Yaskawa SGDB Manual

YASKAWA
YASKAWA MANUAL NO. SIE-S800-16.3

Safety Information
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precau-
tions provided in this manual can result in serious or possibly even fatal injury or damage to the prod-
ucts or to related equipment and systems.
! WARNING Indicates precautions that, if not heeded, could possibly result in loss of life or
serious injury.
! Caution Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.
The warning symbols for ISO and JIS standards are different, as shown below.
ISO JIS
The ISO symbol is used in this manual.
Both of these symbols appear on warning labels on Yaskawa products. Please abide by
these warning labels regardless of which symbol is used.
Yaskawa, 1999
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form,
or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of
Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to
change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa as-
sumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the
information contained in this publication.
iii
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
AEXAMPLE" Indicates application examples.
INFO Indicates supplemental information.
IMPORTANT Indicates important information that should be memorized.
TERMS Describes technical terms that are difficult to understand, or appear in the text without an
explanation being given.
The text indicated by this icon explains the operating procedure using the Hand-held Digital
Operator (JUSP-OP02A-1).
JUSP-OP02A-1
The text indicated by this icon explains the operating procedure using a Mounted Digital Op-
erator (JUSP-OP03A).
JUSP-OP03A
iv
OVERVIEW
OVERVIEW
1 For First-time Users of AC Servos . . . . . . . . . . . . . . 1-1
2 Basic Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
3 Advanced Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
4 Using Serial Communications . . . . . . . . . . . . . . . . . . 4-1
5 Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . 5-1
6 Servo Selection and Data Sheets . . . . . . . . . . . . . . . 6-1
7 Inspection, Maintenance, and Troubleshooting . . 7-1
A Servo Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

B List of I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
C List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
D List of Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1
E Supplementary Information on SGDB-jjAMA SERVOPACKs
(Contact I/O with Reverse Common) . . . . . . . . . . . . . . . . . . . . E-1
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TABLE OF CONTENTS
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Visual Aids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
1 For First-time Users of AC Servos

1.1 Basic Understanding of AC Servos . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.1 Servo Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.2 Definition of Technical Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2 Servo Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1.2.1 Configuration of Servo System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.3 Features of Σ-Series Servos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 10

1.3.1 Outline of the Σ-Series Servos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 10
1.3.2 Using the SGDB SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 11
2 Basic Use
2.1 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.2.1 Checking on Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.2 Installing a Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.3 Installing a SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 10
2.2.4 Power Losses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 12
2.3 Connection and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 13

2.3.1 Connecting to Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 13
2.3.2 Main Circuit Wiring and Power ON Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 20
2.4 Conducting a Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 23

2.4.1 Test Run in Two Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 23
2.4.2 Step 1: Conducting a Test Run for Motor without Load . . . . . . . . . . . . . . . . . . . . . 2 - 24
2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine . . . . 2 - 28
2.4.4 Supplementary Information on Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 29
3 Advanced Use
Before Reading this Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.1 Setting Up the Σ SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3.1.1 Setting the Motor Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.1.2 Setting the Number of Encoder Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.1.3 Direction of Motor Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
vi
TABLE OF CONTENTS
3.1.4 Parameter Settings for Machine System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3.1.5 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.1.6 Setting the Acceleration/Deceleration Type and Rate . . . . . . . . . . . . . . . . . . . . . . 3 - 11
3.1.7 Setting Speed Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 15
3.1.8 Setting Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 15
3.1.9 Setting Stored Stroke Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 18
3.1.10 Setting Backlash Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 19
3.2 Signals Common to All Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 20

3.2.1 Servo ON Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 20
3.2.2 Pause Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 21
3.2.3 Overtravel Limit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 24
3.2.4 Operation Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 28
3.2.5 Operation Mode Display Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 29
3.2.6 Operation Start Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 30
3.2.7 Reset and Alarm Reset Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 32
3.2.8 Servo Alarm Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 33
3.2.9 Command Error Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 34
3.2.10 Alarm Code Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 36
3.2.11 Positioning Complete and Positioning Proximity Signals . . . . . . . . . . . . . . . . . . 3 - 38
3.2.12 Servo Ready Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 41
3.2.13 Running Detection Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 42
3.2.14 OL Warning and Alarm Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 44
3.2.15 Analog Monitor Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 45
3.3 Feed Speed Setting in Automatic and Manual Operation Modes 3 - 47
3.4 Automatic Mode: Station Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 49

3.4.1 Position Command Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 51
3.4.2 Rotating Direction Select Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 52
3.4.3 Current Station Number Output and Station Number Read Selection Input . . . 3 - 53
3.4.4 Station Proximity Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 55
3.4.5 Manual Operation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 56
3.4.6 Inputting Speed Command Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 56
3.5 Automatic Mode: Digital Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 59

3.5.1 Position Command Input Signals, Speed Command Input Signals,
and Strobe Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 61
3.5.2 Speed Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 66
3.5.3 Digital Switch Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 67
3.5.4 Contact Input Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 68
3.6 Automatic Mode: Serial Communications . . . . . . . . . . . . . . . . . . . . 3 - 70

3.6.1 Serial Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 72
3.7 Automatic Mode: Command Table . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 87

3.7.1 Data Number Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 89
3.7.2 Zone Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 90
3.7.3 Speed Command Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 93
3.8 Manual Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 94
3.9 Pulse Operation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 95
vii
3.10 Machine Zero Point Return Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 99
3.10.1 Machine Zero Point Return Mode I (Bits 2 and 3 of Cn-29 Set to 0) . . . . . . . . . 3 - 100
3.10.2 Machine Zero Point Return Mode II (Bits 2 and 3 of Cn-29 Set to 1 and
0 Respectively) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 101
3.10.3 Machine Zero Point Return Mode III (Bits 2 and 3 of Cn-29 Set to 1) . . . . . . . 3 - 101
3.11 Encoder Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 103
3.12 External Pulse Generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 106
3.13 External Position Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 108
3.14 Setting the Stop Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 110

3.14.1 Dynamic Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 110
3.14.2 Holding Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 111
3.15 Smooth Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 114

3.15.1 Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 114
3.15.2 Setting the Torque Command Filter Time Constant . . . . . . . . . . . . . . . . . . . . . . . 3 - 115
3.16 Minimizing Positioning Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 117

3.16.1 Autotuning Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 117
3.16.2 Servo Gain Switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 117
3.16.3 Feed-forward Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 118
3.16.4 Speed Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 118
3.16.5 Proportional Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 119
3.16.6 Mode Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 119
3.17 Handling Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 123
3.18 Special Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 124

3.18.1 Wiring Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 124
3.18.2 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 125
3.18.3 Using More Than One Servodrive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 130
3.18.4 Using Regenerative Resistor Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 131
3.18.5 Using an Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 133
3.18.6 Extending an Encoder Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 136
3.18.7 Using SGDB SERVOPACK with High Voltage Lines . . . . . . . . . . . . . . . . . . . . . . 3 - 139
3.18.8 Connector Terminal Layouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 140
4 Using Serial Communications

4.1 Connecting and Setting Up Serial Communications . . . . . . . . . . . 4-2
4.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.1.2 Wiring to the Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.3 Baud Rate and Command Length Mode Settings . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.1.4 Axis Address Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.1.5 Axis Number Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.1.6 Group Function Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
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TABLE OF CONTENTS
4.2 Serial Communications Commands . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 10

4.2.1 Sending Commands to a SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 10
4.2.2 Reading Data from a SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 12
4.3 Using Fixed Length Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 17

4.3.1 Calculating the Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 17
4.3.2 Handling Communications Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 17
4.3.3 Data Sent from the SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 18
4.4 Serial Commands for Settings and Monitoring . . . . . . . . . . . . . . . . 4 - 20

4.4.1 List of Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 20
4.4.2 Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 23
4.5 Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 31

4.5.1 Hardware Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 31
4.5.2 Communications Control Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 32
4.5.3 Transmission/Reception Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 32
5 Using the Digital Operator

5.1 Basic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.1.1 Connecting the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.1.2 Digital Operator Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.1.3 Resetting Servo Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.1.4 Basic Functions and Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.1.5 Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.1.6 Parameter Setting Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.1.7 Position Table Setting Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 12
5.1.8 Speed Table Setting Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 14
5.1.9 Boundary Table Setting Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 15
5.1.10 Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 17
5.2 Practical Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 24

5.2.1 Operation in Alarm Trace-back Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 24
5.2.2 Operation Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 27
5.2.3 Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 30
5.2.4 Clearing Alarm Trace-back Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 36
5.2.5 Checking the SERVOPACK Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 38
5.2.6 Checking the Software Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 39
5.2.7 Adjusting the Current Detection Offset Manually . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 40
5.2.8 Setting the Machine Zero Point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 42
5.2.9 Saving Backup Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 45
5.2.10 Reading Backup Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 47
5.2.11 Initializing Backup Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 49
6 Servo Selection and Data Sheets

6.1 Selecting a Σ-Series Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.1 Selecting a Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.2 Selecting a SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 15
6.1.3 Selecting a Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 17
ix
6.2 Servomotor Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . 6 - 19
6.2.1 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 19
6.2.2 Mechanical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 40
6.3 SERVOPACK Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . 6 - 44

6.3.1 Combined Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 44
6.3.2 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 50
6.3.3 Overload Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 54
6.3.4 Starting Time and Stopping Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 55
6.3.5 Load Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 55
6.3.6 Overhanging Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 56
6.4 Σ-Series Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 57

6.4.1 Servomotor Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 57
6.4.2 SERVOPACK Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 140
6.4.3 Digital Operator Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 151
6.5 Selecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 152

6.5.1 Selecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 152
6.5.2 Order List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 167
6.6 Specifications and Dimensional Drawings of

Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 192
6.6.1 Cable Specifications and Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 192
6.6.2 Motor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 196
6.6.3 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 197
6.6.4 Brake Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 218
6.6.5 Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 220
6.6.6 Back-up Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 231
6.6.7 1CN and 6CN Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 232
6.6.8 Connector-Terminal Block Conversion Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 234
6.6.9 Cable with 1CN Connector and One End without Connector . . . . . . . . . . . . . . . . 6 - 240
6.6.10 Cable with 6CN Connector and One End without Connector . . . . . . . . . . . . . . . 6 - 241
6.6.11 Circuit Breaker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 242
6.6.12 Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 242
6.6.13 Magnetic Contactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 244
6.6.14 Surge Suppressor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 246
6.6.15 Regenerative Resistor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 246
6.6.16 External Position Indicator (Model MCIF-L8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 247
6.6.17 Digital Switch Unit (MCIF-Djj) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 249
6.6.18 Contact Input Unit (MCIF-R86) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 252
6.6.19 Manual Pulse Generator (PRET-2C3T/100-M1) . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 255
6.6.20 Cables for Connecting Personal Computer and SERVOPACK . . . . . . . . . . . . . 6 - 256
7 Inspection, Maintenance, and Troubleshooting

7.1 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.1 Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.2 SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.1.3 Replacing Battery for Back-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
x
TABLE OF CONTENTS
7.2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

7.2.1 Troubleshooting Problems with Alarm Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.2.2 Troubleshooting Problems with No Alarm Display . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 33
7.2.3 Internal Connection Diagram and Instrument Connection Examples . . . . . . . . . 7 - 35
A Servo Adjustment
A.1 Σ-Series AC SERVOPACK Gain Adjustment . . . . . . . . . . . . . . . . . . A-2
A.1.1 Σ-Series AC SERVOPACKs and Gain Adjustment Methods . . . . . . . . . . . . . . . . A-2
A.1.2 Basic Rules for Gain Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
A.2 Adjusting a Position-control SERVOPACK . . . . . . . . . . . . . . . . . . . A-4

A.2.1 Adjusting Using Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
A.2.2 Adjusting Manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
A.3 Gain Setting References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8

A.3.1 Guidelines for Gain Settings According to Load Inertia Ratio . . . . . . . . . . . . . . . A-8
B List of I/O Signals
C List of Parameters
D List of Alarm Displays
E Supplementary Information on SGDB-jjAMA

SERVOPACKs (Contact I/O with Reverse Common)
E.1 List of I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-3
E.2 Lists of 6CN I/O Signals by Command Mode . . . . . . . . . . . . . . . . . . E-5
E.3 Contact I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E - 12
E.4 Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E - 14
INDEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1
xi
Overview
J Manual Contents
This manual provides Σ-Series users with information on the following:
D An overview of servo systems for first-time users.

D Checking the product on delivery and basic use of the servo.
D Advanced use of servo functions.
D Selecting an appropriate Servo for your needs and placing an order.
D Inspection and maintenance.
xii
Using This Manual
Using This Manual
J Basic Terms
Unless otherwise specified, the following definitions are used:
D Servomotor = Σ-Series SGMG, SGMD, SGMS, SGM, or SGMP Servomotor

D SERVOPACK = Σ-Series SGDB-jjAM SERVOPACK (a trademark for Yaskawa servo ampli-
fiers)
D Servodrive = A Servomotor and an amplifier (SGDB-jjAM SERVOPACK)
D Servo system = A complete servo control system consisting of servodrive, host controller, and
peripheral devices
J Explanation of Technical Terms
Technical terms placed in bold in the text are briefly explained in a “TERMS” section at the bottom
of the page. The following kinds of technical terms are explained:
TERMS z Technical Terms Explained in This Manual
Technical terms that need to be explained to users who are not very familiar with servo systems or electronic devices
and technical terms specific to Σ Series Servos that need to be explained in descriptions of functions.
xiii
Safety Precautions
Please read the following precautions on delivery checking, installation, wiring, operation, and in-
spection and maintenance.
J Receiving
Caution
D Use the specified combination of SERVOMOTOR and SERVOPACK.
Failure to observe this caution may lead to fire or failure.
J Installation
Caution
D Never use the equipment where it may be exposed to splashes of water, corrosive or
flammable gases, or near flammable materials.
Failure to observe this caution may lead to electric shock or fire.
J Wiring
WARNING
D Ground the equipment ground terminal according to electrical codes
(ground resistance: 100 Ω or less).
Failure to observe this warning may lead to electric shock or fire.
Caution
D Do not connect three−phase power supply to output terminals U V and W .
Failure to observe this caution may lead to personal injury or fire.
D Securely tighten screws on the power supply and motor output terminals.
Failure to observe this caution can result in a fire.
xiv
Safety Precautions
J Operation
WARNING
D Never touch any rotating motor parts during operation.
Failure to observe this warning may result in personal injury.
Caution
D To avoid inadvertent accidents, run the SERVOMOTOR only in test run (without load).
Failure to observe this caution may result in personal injury.
D Before starting operation with a load connected, set up parameters suitable for the ma-
chine.
Starting operation without setting up parameters may lead to overrun or failure.
D Before starting operation with a load connected, make sure emergency-stop proce-
dures are in place.
Failure to observe this caution may result in personal injury.
D During operation, do not touch the heat sink.
Failure to observe this caution may result in burns.
J Inspection and Maintenance
WARNING
D Never touch the inside of the SERVOPACK.
Failure to observe this warning may result in electric shock.
D Do not remove the panel cover while the power is ON.
Failure to observe this warning may result in electric shock.
D Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may result in electric shock.
Caution
D Do not disassemble the SERVOMOTOR.
Failure to observe this caution may result in electric shock or personal injury.
D Never change wiring while power is ON.
Failure to observe this caution may result in electric shock or personal injury.
xv
J General Precautions
Always note the following to ensure safe use.

S Some drawings in this manual are shown with the protective cover or shields removed, in order
to describe the detail with more clarity. Make sure all covers and shields are replaced before
operating this product.
S Some drawings in this manual are shown as typical example and may differ from the shipped
product.
S This manual may be modified when necessary because of improvement of the product, modifi-
cation or changes in specifications.
Such modification is made as a revision by renewing the manual No.
S To order a copy of this manual, if your copy has been damaged or lost, contact your YASKAWA
representative listed on the last page stating the manual No. on the front cover.
S YASKAWA is not responsible for accidents or damages due to any modification of the product
made by the user since that will void our guarantee.
xvi
1 1
For First-time Users of AC Servos
This chapter is intended for first-time users of AC servos. It describes the

basic configuration of a servo mechanism and basic technical terms relat-
ing to servos.
Users who already have experience in using a servo should also take a look
at this chapter to understand the features of Σ-Series AC Servos.
1.1 Basic Understanding of AC Servos . . . . . . 1-2

1.1.1 Servo Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.2 Definition of Technical Terms . . . . . . . . . . . . . . . . 1-4
1.2 Servo Configuration . . . . . . . . . . . . . . . . . . . 1-5

1.2.1 Configuration of Servo System . . . . . . . . . . . . . . 1-5
1.3 Features of Σ-Series Servos . . . . . . . . . . . 1 - 10

1.3.1 Outline of the Σ-Series Servos . . . . . . . . . . . . . . . 1 - 10
1.3.2 Using the SGDB SERVOPACK . . . . . . . . . . . . . . 1 - 11
1 -1
1.1.1 Servo Mechanisms
1.1 Basic Understanding of AC Servos
This section describes the basic configuration of a servo mechanism and technical terms relating
to servos and also explains the features of Σ-Series AC Servos.
1.1.1 Servo Mechanisms

1
You may be familiar with the following terms:
D Servo
D Servo mechanism
D Servo control system
In fact, these terms are synonymous. They have the following meaning:
A control mechanism that monitors physical quantities such as specified positions.
In short, a servo mechanism is like a servant who does tasks faithfully and quickly according
to his master’s instructions. In fact, “servo” originally derives from the word “servant.”
Servo system could be defined in more detail as a mechanism that moves at a specified speed
and locates an object in a specified position.
TERMS z Servo mechanism
According to Japanese Industrial Standard (JIS) terminology, a “servo mechanism” is defined as a mechanism that
uses the position, direction, or orientation of an object as a process variable to control a system to follow any changes
in a target value (set point).
More simply, a servo mechanism is a control mechanism that monitors physical quantities such as specified posi-
tions. Feedback control is normally performed by a servo mechanism. (Source: JIS B0181)
1 -2
1.1 Basic Understanding of AC Servos
To develop such a servo system, an automatic control system involving feedback control must
be designed. This automatic control system can be illustrated in the following block diagram:
Configuration of Servo System
Targeted position Controlled Machine position

Servo Servo
machine
Input amplifier motor Output
(load)
Feedback part
1
Detector
This servo system is an automatic control system that detects the machine position (output
data), feeds back the data to the input side, compares it with the specified position (input data),
and moves the machine by the difference between the compared data.
In other words, the servo system is a system to control the output data to match the specified
input data.
If, for example, the specified position changes, the servo system will reflect the changes.
In the above example, input data is defined as a position, but input data can be any physical
quantities such as orientation (angle), water pressure, or voltage.
Position, speed, force (torque), electric current, and so on are typical controlled values for a
servo system.
TERMS z Feedback control
A control that returns process variables to the input side and forms a closed loop. It is also called closed-loop control.
1 -3
1.1.2 Definition of Technical Terms
1.1.2 Definition of Technical Terms
The main technical terms used in this manual are as follows:
J Servo
Normally, servo is synonymous with servo mechanism. However, because “mechanism” is
omitted, the meaning becomes somewhat ambiguous. Servo may refer to the entire servo
1 mechanism but may also refer to an integral part of a servo mechanism such as a servomotor
or a servo amplifier. This manual also follows this convention in the use of the term “servo”.
J Servo Control System

Servo control system is almost synonymous with servo mechanism but places the focus on sys-
tem control. In this manual, the term “servo system” is also used as a synonym of servo control
system.
Related Terms Meaning
Servomotor General servomotors or Yaskawa SGMj Servomotors. In some cases, a posi-

tion detector (encoder) is included in a servomotor.
SERVOPACK Trademark of Yaskawa servo amplifier “SGDB SERVOPACK.”
Servodrive A Servomotor and amplifier pair. Also called “servo.”
Servo system A closed control system consisting of a host controller, servodrive and con-
trolled system to form a servo mechanism.
Host controller
Commands
Amplifier
(SERVOPACK) Servomotor
Controlled
Drive system
Servodrive
Servo System
1 -4
1.2 Servo Configuration
This section describes the basic configuration of a servo system.
1.2.1 Configuration of Servo System
The following diagram illustrates a servo system in detail: 1
Host controller
(5)
(5)
Commands
Command
interpreter
Servo amplifier
Error Power (4)

amplifier amplifier
(Output)
+ Motor Position
drive
(Input) - circuit Speed
(1) Movable table

Gear
Position and
Position and
speed
speed
feedback
feedback
Ball screw
(3) (2) Controlled
system
Detector Servomotor Drive system
(1) Controlled system: Mechanical system for which the position or speed is to be controlled.
This includes a drive system that transmits torque from a servomotor.
(2) Servomotor: A main actuator that moves a controlled system. Two types are avail-
able: AC servomotor and DC servomotor.
(3) Detector: A position or speed detector. Normally, an encoder mounted on a motor

is used as a position detector.
(4) Servo amplifier: An amplifier that processes an error signal to correct the difference be-
tween a command and feedback data, and operates the servomotor ac-
cordingly. A servo amplifier consists of a command interpreter, which
creates target movement patterns for the servomotor, an error amplifi-
er, which processes error signals, and a power amplifier, which oper-
ates the servomotor.
(5) Host controller: A device that controls a servo amplifier by specifying a position or
speed as a set point.
1 -5
Servo components (1) to (5) are outlined below:
J Controlled System
In the previous figure, the controlled system is a movable table for which the position or speed
is controlled. The movable table is driven by a ball screw and is connected to the servomotor
via gears.
The drive system consists of the following parts.
1
Gears + Ball Screw
This drive system is most commonly used because the power transmission ratio (gear ratio)
can be freely set to ensure high positioning accuracy. However, play in the gears must be mini-
mized.
The following drive system is also possible when the controlled system is a movable table:
Coupling + Ball Screw

Rolling-contact guide
When the power transmission ratio is 1 : 1,
Coupling
a coupling is useful because it has no play. Ball screw Rolling-contact
bearing
This drive system is widely used for machin-
ing tools.
Housing
Timing Belt + Trapezoidal Screw

A timing belt is a coupling device that allows the
power transmission ratio to be set freely and that
has no play.
Trapezoidal
A trapezoidal screw thread does not provide excel- screw
lent positioning accuracy, so can be treated as a mi-
nor coupling device.
Servomotor Timing belt
To develop an excellent servo system, it is important to select a rigid drive system that has no
play.
Configure the controlled system by using an appropriate drive system for the control purpose.
TERMS z Drive system
Also called a drive mechanism.

A drive system connects an actuator (such as a servomotor) to a controlled system and serves as a mechanical control
component that transmits torque to the controlled system, orientates the controlled system, and converts motion from
rotation to linear motion and vice versa.
1 -6
J Servomotor
DC Servomotor and AC Servomotor

Servomotors are divided into two types: DC servomotors and AC servomotors.
DC servomotors are driven by direct current (DC). They have a long history. Up until the 1980s,
the term “servomotor” used to imply a DC servomotor.
From 1984, AC servomotors were emerging as a result of rapid progress in microprocessor
technology and other technologies. Driven by alternating current (AC), AC servomotors are
1
now widely used because of the following advantages:
D Easy maintenance: No brush
D High speed: No limitation in rectification rate
Note however that servomotors and SERVOPACKs use some parts that are subject to mechani-
cal wear or aging. For preventive maintenance, inspect and replace parts at regular intervals.
For details, refer to Chapter 7 Inspection, Maintenance, and Troubleshooting.
AC Servomotor
AC servomotors are divided into two types: synchronous and induction. The synchronous type
is more commonly used.
For a synchronous servomotor, motor speed is controlled by changing the frequency of alter-
nating current.
A synchronous servomotor provides strong holding torque when stopped, so this type is ideal
when precise positioning is required. Use this type for a servo mechanism for position control.
The following figure illustrates the structure of a synchronous servomotor:
Light-receiving
Rotary disc element Housing Front cap
Armature wire
Light-emitting Stator core
element
Ball bearing
Shaft
Rotor core
Position detector Magnet

(encoder) Lead wire
Yaskawa SGMj Servomotors are of the synchronous type.
Performance of Servomotor
A servomotor must have “instantaneous power” so that it can start as soon as a start command
is received. The term “power rating (kW/s)” is used to represent instantaneous power. It refers
to the electric power (kW) that a servomotor generates per second. The greater the power rat-
ing, the more powerful the servomotor.
1 -7
J Detector
A servo system requires a detector to detect the position and speed. There are 2 detection meth-
ods: Optical and magnetic. The system uses an optical or magnetic encoder mounted on a ser-
vomotor as the detector.
There are two types of encoder: Incremental and absolute.
Incremental Encoder
1
An incremental encoder is a pulse generator, which generates a certain number of pulses per
revolution (e.g., 2,000 pulses per revolution). If this encoder is connected to the mechanical
system and one pulse is defined as a certain length (e.g., 0.001 mm), it can be used as a position
detector.
However, this encoder does not detect an absolute position and merely outputs a pulse train.
Hence zero return operation must be performed before positioning.
The following figure illustrates the operation principle of a pulse generator:
Phase A Phase A pulse train

Phase B Phase B pulse train
Phase Z
Slit
Center of Fixed slit
revolution
Light-emitting
element
Rotary Light-receiving
disc element
Rotary slit
Absolute Encoder
An absolute encoder is designed to detect an absolute angle of rotation as well as to perform
the general functions of an incremental encoder. With an absolute encoder, therefore, it is pos-
sible to create a system that does not require zero return operation at the beginning of each op-
eration.
Difference between an Absolute and Incremental Encoder

An absolute encoder will keep track of the motor shaft position even if system power is lost
and some motion occurs during that period of time. The incremental encoder is incapable of
the above.
J Servo Amplifier
A servo amplifier is required to operate an AC servomotor.
The following figure illustrates the configuration of a servo amplifier:
1 -8
Servo amplifier
Command
interpreter
Motor driving AC power

Error Power
amplifier amplifier
Commands +
input −
1
Servomotor
Feedback
Commercial AC power
A servo amplifier consists of the following three sections.
Command Interpreter
As shown in the device in the above figure, the command interpreter creates patterns for target
movements for the servomotor based on commands sent via serial communications or contact
points.
The movement patterns created in the command interpreter are sent to the error amplifier and
power amplifier as target signals.
Error amplifier
The error amplifier compares the target signal with a feedback signal and generates a differen-
tial signal.
The control function amplifies and transforms the differential signal. In other words, it per-
forms proportional (P) control or proportional/integral (PI) control. (It is not important if
you do not understand these control terms completely at this point.)
Power Amplifier
A power amplifier runs the servomotor at a speed or torque proportional to the output of the
error amplifier. In other words, from the commercial power supply of 50/60 Hz, it generates
alternating current with a frequency proportional to the command speed and runs the servomo-
tor with this current.
The Yaskawa SERVOPACK is equivalent to this servo amplifier.
Host Controller
A host controller commands a servo amplifier by specifying a position or speed as a set point.
TERMS z Proportional/integral (PI) control
PI control provides more accurate position or speed control than proportional control, which is more commonly
used.
1 -9
1.3.1 Outline of the Σ-Series Servos
1.3 Features of Σ-Series Servos
Α Σ-Series Servo consists of an SGMj Servomotor and an SGDB-jjAM SERVOPACK (servo

amplifier).
1.3.1 Outline of the Σ-Series Servos

1
This section describes the models of SGMj Servomotors and the models of SGDB-jjAM
SERVOPACK controls.
J Models of SGMj Servomotors

The SGMj Servomotors are synchronous servomotors and have the following features:
Series Rated Rotation Speed Rated Output

Maximum Rotation Speed
SGMG 1500 r/min 0.45 to 15 kW

3000 r/min (10 models)
1000 r/min 0.3 to 6.0 kW

SGMG Servomotor
SGMS 3000 r/min 1.0 to 5.0 kW
SGMD 2000 r/min 2.2 to 4.0 kW

SGM 3000 r/min 0.4 to 0.8 kW

SGMP 3000 r/min 0.4 to 1.5 kW SGMP Servomotor

1 -10
J SGDB-jjAM SERVOPACK
The operation of the SGDB-jjAM SERVOPACK is based
on commands sent via serial communications or contacts. In-
formation of motor position is managed within the SERVO-
PACK, and there is no need to form a speed or position feed-
back loop between the host controller and SERVOPACK.
Furthermore, acceleration and deceleration patterns can also
be created based on user settings within the SERVOPACK. 1
SGDB-jjAM SERVOPACK
1.3.2 Using the SGDB SERVOPACK
J Operation Modes
The SGDB-jjAM SERVOPACK has four operation modes. These modes can be switched
at any time by means of a contact.
Automatic Mode
Following the input of command position data, the input of an operation start signal performs
the positioning based on the input data.
The operation method in automatic mode can be selected from the following: Station numbers,
digital switches, serial communications, and command table.
Manual Mode
The Servomotor runs at a constant speed while a manual mode signal is being input.
Pulse Mode
Positioning is performed by a pulse train command from an external pulse generator.
D Pulse system: Line driver, line receiver

D Pulse form: Two-phase pulse trains with 90° phase difference (×1) (450 kpps max.)
Sign + pulse train (450 kpps max.)
CW + CCW pulse trains (450 kpps max.)
An external PG input is triggered when an /LPG signal is input.
1 -11
1.3.2 Using the SGDB SERVOPACK
Zero Point Return Mode

This mode is used to perform a zero point return when an incremental encoder is used. The
following three modes are available:
1. An STP signal (deceleration limit switch) is used together with the phase-C pulse of the
encoder (method 1).
2. Only an STP signal (stop limit switch) is used.
1 3. An STP signal (deceleration limit switch) is used together with the phase-C pulse of the
encoder (method 2).
J Operation Methods in Automatic Mode

One of the following four operation methods can be selected in automatic mode by setting pa-
rameters.
Station Numbers
Performs indexed positioning.
A number attached to an index point (station number) is entered as position data.
Speed data is selected by a speed selection signal from among the four different speeds speci-
fied using parameters in the SERVOPACK.
Both one-way rotation and shortest-path rotation can be selected.
A station number can be between 0 and 999 if specified as a decimal number, or between 0 and
4095 if specified as a binary number.
If positioning points are evenly spaced, fewer command signals are needed than in when using
digital switches.
Application examples: Disc tables, rotary-type automatic tool changers (ATCs), etc.
Digital Switches
Positioning data is input through digital switches, relays, or PLC contacts.
Positioning data can contain the following:
D Speed data: 6 digits max.
D Position data: Sign + 8 digits max.
This method is suited when the user wants to set positioning to an arbitrary position, and when
the user wants to issue a position command without a host controller, such as a PLC or personal
computer.
Application examples: Roll feeders, etc.
IMPORTANT The digital switch method utilizes time-sharing to read data two digits at a time using a strobe signal. It is there-
fore necessary to use special Yaskawa Digital Switches for this purpose. If other digital switches or relays are
used, be sure to use a Contact Input Unit. Also, when inputting data directly from a PLC, it is necessary to create
a ladder program so that the strobe signal scan time (24 to 2,000 ms, variable) matches the PLC scan time.
1 -12
Serial Communications
Serial commands are used to enter positioning data (position and speed).
Using multi-drop connections allows a single host controller to send commands to SERVO-
PACKs for up to 15 axes with a single group configuration or up to 32 axes with a multi-group
configuration.
Settings allow the use of a fixed length mode, in which the serial command data length is set
to a fixed value.
1
Serial communications can save the amount of wiring required, particularly in situations where
commands are sent to multiple SERVOPACKs.
Application examples: X-Y tables (point-to-point configuration), etc.
Command Table
Positioning data is selected by means of a selection signal from a command table within the
SERVOPACK.
Positioning data is selected as a set of position and speed data. Up to 512 sets can be entered.
This method is suited to situations where there are no more than 512 target positions, and these
positions are not evenly spaced.
Application examples: Automated warehouses, etc.
1 -13
2
Basic Use
2
This chapter describes the first things to do when Σ-Series products are de-
livered. It also explains the most fundamental ways of connecting and op-
erating Σ-Series products. Both first-time and experienced servo users
must read this chapter.
2.1 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.1 Checking on Delivery . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.2 Installing a Servomotor . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.3 Installing a SERVOPACK . . . . . . . . . . . . . . . . . . . 2 - 10
2.2.4 Power Losses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 12
2.3 Connection and Wiring . . . . . . . . . . . . . . . . 2 - 13

2.3.1 Connecting to Peripheral Devices . . . . . . . . . . . . 2 - 13
2.3.2 Main Circuit Wiring and Power ON Sequence . 2 - 20
2.4 Conducting a Test Run . . . . . . . . . . . . . . . . 2 - 23

2.4.1 Test Run in Two Steps . . . . . . . . . . . . . . . . . . . . . . 2 - 23
2.4.2 Step 1: Conducting a Test Run for Motor
without Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 24
2.4.3 Step 2: Conducting a Test Run with
the Motor Connected to the Machine . . . . . . . . . 2 - 28
2.4.4 Supplementary Information on Test Run . . . . . . 2 - 29
2 -1
Basic Use
2.1 Precautions
This section provides notes on using Σ-Series Servos.
J Use 200 VAC Power Supply

Be sure to use 200 VAC power supply.
J Do not plug the Servomotor directly Direct

connection
into power outlet.
2 Do not plug the Servomotor directly into the power
200 VAC
power supply
outlet. Doing so will damage the Servomotor. The
Servomotor cannot be operated without an SGDB
SERVOPACK.
Damage will result!
J Do not change wiring when power is

ON. OFF
(POWER and
Always turn the power OFF before connecting or dis- CHARGE lamp)
connecting a connector.(Except for Digital Operator
Always turn the power
(JUSP-OP02A-1, JUSP-OP03A)) OFF before connecting
or disconnecting a
connector.
J Wait 5 minutes or more for

inspection after turning OFF the
power.
Even after the power is turned OFF, residual electric
charge still remains in the capacitor inside the SER-
CHARGE lamp
VOPACK. To prevent an electric shock, always wait
for the CHARGE lamp to go OFF before starting in-
spection (if necessary).
J Provide at least 10 mm of clearance Provide Provide

from other devices. sufficient sufficient
clearance clearance
As shown in the diagram, provide as least 10 mm of 50 mm 10 mm
or more or more
clearance from other devices horizontally and at
least 50 mm of clearance vertically. The SERVO-
PACKs generate heat and must be installed to allow Ambient
temperature:
sufficient heat dissipation. The SERVOPACKs must 0 to 55°C
also be installed in locations where they will not be
affected by condensation, vibration, and shock.
2 -2
2.1 Precautions
J Perform noise reduction and grounding properly.

If the signal line is noisy, vibration or malfunction will
result. Casing
D Separate high-voltage cables from low-voltage cables. SERVOPACK

Signal Servomotor
line
D Use cables as short as possible.
D Use one-line grounding (ground resistance 100 Ω or
less) for the Servomotor and SERVOPACK. One-line
grounding
(100 Ω or less)
D Never use a noise filter for the power supply input be-
tween the motor and SERVOPACK.
2
J Conduct a voltage resistance test under the following
conditions.
D Voltage: 1500 Vrms AC, one minute
Conduct a voltage
D Interrupting current: 100 mA resistance test
under the
D Frequency: 50/60 Hz conditions given
on the left.
D Voltage application points: Between L1C, L3C, L1,
L2, L3 terminals and frame ground (connect terminals
securely).
J Use a fast-response ground-fault interrupter.

For a ground-fault interrupter, always use a fast-re- Ground-fault interrupter
sponse type or one designed for PWM inverters. GOOD GOOD POOR
Do not use a time-delay type. Fast-response For PWM Time-delay
type inverter type
J Do not perform continuous operation under overhanging load.

Servomotor
Continuous operation cannot be performed by rotating
the motor from the load and applying regenerative
braking. Regenerative braking by the SERVOPACK
can be applied only for a short period, such as the motor
deceleration time.
Regenerative braking
continuously applied
J The Servomotor cannot be operated by turning the power ON

SERVOPACK
and OFF. L1C
L3C
Frequently turning the power ON and OFF causes the L1
Power L2
internal circuit elements to deteriorate. Always start or supply L3
stop the servomotor by using command signals. Starting and stopping by

turning power ON and OFF
2 -3
Basic Use
2.2.1 Checking on Delivery
2.2 Installation
This section describes how to check Σ-Series products on delivery and how to install them.
When Σ-Series products are delivered, check the following items:
Check Items Remarks

2 Check if the delivered products are the Check the models marked on the nameplates of Servomotor
ones you ordered. and SERVOPACK (see the table below).
Check if the motor shaft rotates If the motor shaft is smoothly turned by hand, it is normal.
smoothly. However, if the motor has brakes, it cannot be turned manual-
ly.
Check for damage. Check the overall appearance, and check for damage or
scratches resulting from transportation.
Check screws for looseness. Check for looseness by using a screwdriver as necessary.
If any of the above items are faulty or incorrect, contact the dealer from which you purchased
the products or your nearest local sales representative.
J Servomotors
Appearance and Nameplate

(Example)
Rated output
Servomotor model
Σ-Series Servomotor Serial Manufacturing

number date
Rated rotation speed
2 -4
2.2 Installation
Models
SGM S − 10 A 6 A j j
Σ-Series Servomotor
Series name of products

G: SGMG
S: SGMS
D: SGMD
Motor capacity (See the Table 2.1)
Standard
A : Yaskawa Standard 2
Encoder specifications (See the Table 2.2)
Rated rotation speed
A: SGMG 1500 r/min
SGMS 3000 r/min
SGMD 2000 r/min
B: SGMG 1000 r/min
Shaft specifications
A: Standard (straight without key, with option specifications)
B: Straight with key, shaft end tap (one place)
C: Taper 1/10, with parallel key
D: Taper 1/10, with woodruff key (For G series 05, 09 model only)
Option specifications
B: 90 VDC brake
C: 24 VDC brake
S: Oil seal
F: 90 VDC brake, Oil seal
G: 24 VDC brake, Oil seal
Table 2.1 (kW)
Series G S D Series G S D
1500 1000 3000 2000 1500 1000 3000 2000

Code r/min r/min r/min r/min Code r/min r/min r/min r/min
03 0.3 30 2.9 3.0 3.0
05 0.45 32 3.2
06 0.6 40 4.0 4.0
09 0.85 0.9 44 4.4 4.4
10 1.0 50 5.0
12 1.2 55 5.5
13 1.3 60 6.0
15 1.5 75 7.5
20 1.8 2.0 2.0 1A 11.0
22 2.2 1E 15.0
2 -5
Basic Use
Table 2.2
Code Specification SGMS SGMG SGMD
2 8192 P/R incremental f ¬ f
6 4096 P/R incremental ¬ f f
W 12 bit absolute f f ¬
S 15 bit absolute f f f
¬: Standard f: Semi-standard
Note: Refer to 6.1.1 Selecting a Servomotor for details on identifying the SGM and SGMP mod-
2 els.
J SERVOPACKs
Appearance and Nameplate

(Example)
SERVOPACK model
Σ-Series SGDB
SERVOPACK Serial Output power
number
Applicable power supply
Models
SGDB − 10 A M − j
Σ-Series
SGDB SERVOPACK
Motor capacity
Voltage
A: 200 V
Model
M: With multiple position control functions
Option Specifications
P: Duct ventilation type
2 -6
2.2 Installation
Code Capacity (kW) Code Capacity (kW)
05 0.5 50 5.0
10 1.0 60 6.0
15 1.5 75 7.5
20 2.0 1A 11.0
30 3.0 1E 15.0
2.2.2 Installing a Servomotor

2
Servomotor SGMj models can be installed either horizontally or vertically. However, if the
Servomotor is installed incorrectly or in an inappropriate location, the service life will be short-
ened or unexpected problems will occur. To prevent this, always observe the installation
instructions described below.
J Before Installation
Anticorrosive paint is coated on the edge of the motor shaft to prevent it from rusting during
storage. Clean off the anticorrosive paint thoroughly using a cloth moistened with thinner be-
fore installing the motor.
Anticorrosive paint is
coated here
IMPORTANT When cleaning off the anticorrosive paint, do not allow thinner to come into contact with other parts of the Servo-
motor.
J Storage
When the Servomotor is to be stored with the power cable disconnected, store it in the follow-
ing temperature range:
Between −20 and 60°C
J Installation Sites
The Servomotor SGMj modes are designed for indoor use. Install Servomotor in an environ-
ment which meets the following conditions:
D Indoor and free from corrosive and explosive gases

D Well-ventilated and free from dust and moisture
2 -7
Basic Use
2.2.2 Installing a Servomotor
D Ambient temperature of 0 to 40°C

D Relative humidity of 20% to 80% (non-condensing)
D Inspection and cleaning can be performed easily
If the Servomotor is used in a location subject to water or oil mist, the motor can be protected
by taking necessary precautions at the motor. However, if the shaft opening is to be sealed,
specify the motor with oil seal.
Install with the electrical connector facing downward.
J Alignment
2 Align the shaft of the Servomotor with that of the equipment to be controlled, then connect the
shafts with couplings. Install the Servomotor so that alignment accuracy falls within the range
shown below.
Measure this distance at four different positions in the circumference.

The difference between the maximum and minimum measurements must be 0.03 mm or less.
(Turn together with couplings)
Measure this distance at four different positions in the circumference.

The difference between the maximum and minimum measurements must be 0.03
mm or less. (Turn together with couplings)
IMPORTANT 1. If the shafts are not aligned properly, vibration will occur, resulting in damage to the bearings.
2. Mount couplings carefully. A direct shock to the shaft may damage the encoder attached to the shaft on the
end opposite the load.
J Allowable Shaft-end Load Range

Perform a mechanical design so that thrust load and radial load applied to the servomotor
shaft end falls within the range given in the following table.
Allowable radial loads shown below are the maximum values that could be applied to the shaft
end.
Shaft
TERMS z Shaft opening opening
Refers to the space where the shaft comes out from the motor.
Fr
z Thrust load and radial load
Motor
Fs
Thrust load (Fs): Shaft-end load applied parallel to the center line of a shaft
Radial load (Fr): Shaft-end load applied perpendicular to the center line of a shaft Shaft end
2 -8
2.2 Installation
Table 2.3 Servomotors with Incremental Encoders
Allowable Allowable
LR
Motor Model Radial Load Thrust Load Reference Drawing
[mm(in.)]
Fr [N(lb)] Fs [N(lb)]
SGMG -05AjA 490 (110) 98 (22) 58 (2.28)
-09AjA 490 (110) 98 (22)
-13AjA 686 (154) 343 (77)
-20AjA 1176 (264) 490 (110) 79 (3.11)
-30AjA 1470 (331) 490 (110)
-44AjA 1470 (331) 490 (110)
-55AjA 1764 (397) 588 (132) 113 (4.45)
2
-75AjA 1764 (397) 588 (132)
-1AAjA 1764 (397) 588 (132) 116 (4.57)
-1EAjA 4998 (1124) 2156 (485) 116 (4.57)
SGMG -03AjB 490 (110) 98 (22) 58 (2.28)
-06AjB 490 (110) 98 (22)
-09AjB 686 (154) 343 (77)
-12AjB 1176 (264) 490 (110) 79 (3.11)
-20AjB 1470 (331) 490 (110)
-30AjB 1470 (331) 490 (110)
-44AjB 1764 (397) 588 (132) 113 (4.45)
-60AjB 1764 (397) 588 (132)
SGMS -10A 686 (154) 196 (44) 45 (1.77)
-15A 686 (154) 196 (44)
-20A 686 (154) 196 (44)
-30A 980 (220) 392 (88) 63 (2.48)
-40A 1176 (264) 392 (88)
-50A 1176 (264) 392 (88)
SGMD -22A 1176 (264) 490 (110) 55 (2.17)
-32A 1176 (264) 490 (110)
-40A 1176 (264) 490 (110) 65 (2.56)
SGM -04A 245 (55) 74 (17) 25 (0.98)
-08A 392 (88) 147 (33) 35 (1.38)
SGMP -04A 245 (55) 68 (15) 25 (0.98)
-08A 392 (88) 147 (33) 35 (1.38)
-15A 490 (110) 147 (33)
2 -9
Basic Use
2.2.3 Installing a SERVOPACK
2.2.3 Installing a SERVOPACK
Σ-Series SGDB SERVOPACK is a base-mounted servo controller. Incorrect installation will

cause problems. Always observe the installation instructions described below.
J Storage
When the SERVOPACK is to be stored with the power
cable disconnected, store it in the following tempera-
ture range:
Between −20 and 85°C

2
SGDB SERVOPACK
J Installation Sites
The following table lists some precautions on installation sites.
Situation Precautions on Installation
Design the control panel size, unit layout, and cooling method
When installed in a control panel so that the temperature around the periphery of the SERVO-
PACK does not exceed 55°C.
Suppress radiation heat from the heating unit and a temperature

When installed near a heating unit rise caused by convection so that the temperature around the
periphery of the SERVOPACK does not exceed 55°C.
When installed near a source of Install a vibration isolator underneath the SERVOPACK to
vibration prevent it from receiving vibration.
Corrosive gases do not immediately affect the SERVOPACK

When installed in a place receiving
but will eventually cause contactor-related devices to malfunc-
corrosive gases
tion. Take appropriate action to prevent corrosive gases.
Avoid installation in a hot and humid place or where excessive

Others
dust or iron powder is present in the air.
J Orientation
Install the SERVOPACK perpendicular to the wall as
shown in the figure.
The SERVOPACK must be orientated as shown in the Wall
figure.
Secure the SERVOPACK securely to the wall using

three or four of the mounting holes provided.
Ventilation
2 -10
2.2 Installation
J Installation Method
When installing multiple SERVOPACKs side by side in a control panel, observe the following
installation method:
Fan Fan
50 mm or more
Fan
50 mm or more
2
30 mm or more 10 mm or more
Orientation
Install SERVOPACK perpendicular to the wall so that the front panel (Digital Operator
mounted face) faces outward.
Cooling
Provide sufficient space around each SERVOPACK to allow cooling by fan and natural con-
vection.
Installing Side by Side

When installing SERVOPACKs side by side, provide at least 10 mm space between them and
at least 50 mm space above and below them as shown in the figure above. Install cooling fans
above the SERVOPACKs to prevent the temperature around each SERVOPACK from increas-
ing excessively and also to maintain the temperature inside the control panel evenly.
Conditions Inside the Control Panel

D Ambient temperature for SERVOPACK: 0 to 55°C
D Humidity: 90% RH or less
D Vibration: 0.5 G (4.9 m/s2)
D Altitude: 1,000 m or less
D Condensation and freezing: None
D Ambient temperature to ensure long-term reliability: 45°C or less
2 -11
Basic Use
2.2.4 Power Losses
2.2.4 Power Losses
The power losses of the SERVOPACKs at rated output are given below:
Output
Power Loss Power Loss of Power Loss
SERVOPACK Current Power Loss
in Main Regenerative in Control
Model (RMS Value) in Total W
Circuit W Resistor W Circuit W
A
SGDB-05AM 3.8 27 77
SGDB-10AM 7.6 55 105

20
2 SGDB-15AM 11.6 80 30 130
SGDB-20AM 18.5 120 170
SGDB-30AM 24.8 170 22 222
SGDB-50AM 32.9 220 247
SGDB-60AM 46.9 290 27 317
SGDB-75AM 54.7 330 − 357
SGDB-1AAM 58.6 360 390

30
SGDB-1EAM 78.0 490 520
The power loss of the regenerative resistor is the allowable loss. If the loss exceeds the allow-
able loss, the regenerative resistor inside the SERVOPACK should be removed and a regenera-
tive resistor connected externally. Because the models in which the regenerative resistor is ex-
ternally connected fall into non-standard specification categories, contact Yaskawa for further
information.
For SGDB-50AM to 1EAM models, the regenerative resistor is placed separately.
The regenerative resistor unit provided from Yaskawa is described in 3.18.4 Using Regenera-
tive Resistor Units.
The power loss for JUSP-RA04 (for SGDB-50AM or SGDB-60AM) is 180 W, and for JUSP-
RA05 (for SGDB-75AM, SGDB-1AAM, or SGDB-1EAM) is 350 W.
2 -12
2.3 Connection and Wiring
This section describes how to connect Σ-Series products to peripheral devices and explains a typi-
cal example of wiring the main circuit. It also describes an example of connecting to main host
controllers.
2.3.1 Connecting to Peripheral Devices
This section shows a standard example of connecting Σ-Series products to peripheral devices
and briefly explains how to connect to each peripheral device. 2
2 -13
Basic Use
Contact Input Unit Digital Switch Unit

Allows position and speed Allows position and speed
command values to be input command values to be input.
through contacts.
Power supply
Molded-case Circuit 3 phase 200 VAC
Breaker (MCCB)
Used to protect
power supply
line. Shuts the
circuit OFF if
overcurrent is
detected.
Molded-case
2 circuit breaker
Noise Filter
Used to eliminate external noise
from power supply line.
FN351-8/29
Host Controller
FN351-16/29 (with contact I/O)
FN351-25/29 Commands can be sent from a
.
. host controller that has a contact
FN256-75/34 I/O, such as a PLC.
FN258-100/35
Noise filter
Magnetic Contactor
HI-Series Turns the servo

ON or OFF.
Use a surge
suppressor for
Manual Pulse Generator
the magnetic
Can be operated by a handle.
contactor. Magnetic
contactor
Magnetic
Brake Power Supply contactor
LPDE-1H01 (for 100 V input)
LPSE-2H01 (for 200 V input)
Used for
Servomotor
Brake
with brake.
power
supply
2 -14
Host Controller (with RS-422A interface)

External Position Indicator
Serial commands can be sent from a host controller with an RS-422A
Indicates the current position. interface. Up to 32 SGDB-jjAM Units can be connected to a serial
interface port.
D Connector kit for 1CN, 3CN and 6CN.
D Connector terminal block conversion unit for cable with 1CN or 6CN
RESET
connector and the other end without connector.
D Peripheral device connection cables
Refer to the next page for details.
Digital Operator
Allows the user to set parameters and tables,
and displays operation command status and
alarm status. Two models of Digital Operator
can be selected. Communications with a
personal computer are also possible.
2
6CN
3CN
Mounted Operator (JUSP-OP03A)

This model can be mounted directly on the
SERVOPACK.
2SW
Hand-held Operator
(JUSP-OP02A-1)
STATUS
1-meter(3.3ft.) cable
SERVOPACK
SGDB- included
POWER 5CN
ALARM
1SW
Personal Computer
1CN 7CN 2CN
A different connector cable is required

according to the type of personal computer.
U V W
L1 L2 L3
L1C L3C
Cable for Encoder
Connector for Encoder
+1 B
Regenerative
resistor
(option)
Regenerative Resistor
For SERVOPACKs with a capacity of 5 kW

or greater, a Regenerative Resistor is
mounted separately.
The Regenerative Resistor is connected
between +1 and B terminals.
2 -15
Basic Use
J Cable for Personal Computer

For IBM PC/AT or compatible computer: DE9408565
J Connector Terminal Block Conversion Unit

for 1CN and 6CN
The terminal block allows connection to a host controller.
For 1CN: JUSP-TA36Z Connector with 0.5

meter cable
For 6CN: JUSP-TA50P
2 J Cable with a 1CN or 6CN Connector and One

End without Connector
For 1CN
1 m (3.3ft): JZSP-VBI14-01
2 m (6.6ft): JZSP-VBI14-02
3 m (9.8ft): JZSP-VBI14-03
For 6CN
1 m (3.3ft): DE9411288-1
2 m (6.6ft): DE9411288-2
3 m (9.8ft): DE9411288-3
J 1CN, 3CN, and 6CN Connector Kits

For 1CN: JZSP-VAI09
For 3CN: DE9409459
For 6CN: DE9411289
J Connector Cable for Digital Switch Unit and

Contact Input Unit
This cable can be used both to connect the Digital
Switch Unit to the SERVOPACK, and to connect the
Contact Input Unit to the SERVOPACK. 6CN for
SERVOPACK
1 m (3.3ft): JZSP-VBX24-01
2 m (6.6ft): JZSP-VBX24-02
1CN for Digital Switch Unit or 3CN
for Contact Input Unit
3 m (9.8ft): JZSP-VBX24-03
2 -16
J Digital Switch Unit Connector Kit

(JZSP-VBX22)
This kit is a set of connectors for connecting a Digital
Switch Unit and a SERVOPACK.
6CN for 1CN for Digital
SERVOPACK Switch Unit
J Contact Input Unit Connector Kit

This 6CN Connector Kit (DE9411289) is used with the
connector provided with the Contact Input Unit.
J Cable for External Position Indicator

6CN for
SERVOPACK 2
This cable is used to connect an external position indicator to a SERVOPACK.
1 m (3.3ft): JZSP-VBX10-01
2 m (6.6ft): JZSP-VBX10-02
3 m (9.8ft): JZSP-VBX10-03
3CN for 1CN for External Position Indicator

SERVOPACK
J External Position Indicator Connector Kit (JZSP-VBX12)

This kit includes a set of connectors for connecting an external position indicator and a SER-
VOPACK.
3CN for 1CN for External

SERVOPACK Position Indicator
2 -17
Basic Use
J Cable for Manual Pulse Generator

(Without Connector on Separated Ends)
This cable separates the manual pulse generator signal
lines from another signal lines.
1 m (3.3ft): JZSP-VBX04-01
2 m (6.6ft): JZSP-VBX04-02
3 m (9.8ft): JZSP-VBX04-03
1CN for SERVOPACK
J Cable for PG
2 This cable is used to connect the encoder of Servomotor to the SERVOPACK.
The following three types of cables are available according to encoder types.
SGMG, SGMS, and SGMD

D Cables with One Connector (without Connector on Encoder End)
Cable Model
Length
Incremental Absolute
3m (9.8ft) DE9411276-1 DE9411277-1
5m (16.4ft) DE9411276-2 DE9411277-2
10m (32.8ft) DE9411276-3 DE9411277-3
15m (49.2ft) DE9411276-4 DE9411277-4
20m (65.6ft) DE9411276-5 DE9411277-5
D Cables with Connectors on Both Ends (Straight Plug on Encoder End)
Cable Model
Length
3m (9.8ft) JZSP-CBP0S-01 JZSP-CBP1S-01
2 -18
D Cables with Connectors on both Ends (L-shape Plug on Encoder End)
Cable Model
Length
3m (9.8ft) JZSP-CBP0L-01 JZSP-CBP1L-01

2
For Models SGM, SGMP
D Cables with Connectors on Both Ends
Cable Model
Length
3m (9.8ft) JZSP-CAP00-01 JZSP-CAP10-01
D Cables with One Connector (without Connector on SERVOPACK End)
Cable Model
Length
3m (9.8ft) DP9320086-1 DP9320085-1
5m (16.4ft) DP9320086-2 DP9320085-2
10m (32.8ft) DP9320086-3 DP9320085-3
15m (49.2ft) DP9320086-4 DP9320085-4
20m (65.6ft) DP9320086-5 DP9320085-5
2 -19
Basic Use
2.3.2 Main Circuit Wiring and Power ON Sequence
D Cables without Connectors
Cable Model
Length
3m (9.8ft) DP9400064-1 DP8409123-1
5m (16.4ft) DP9400064-2 DP8409123-2
10m (32.8ft) DP9400064-3 DP8409123-3
15m (49.2ft) DP9400064-4 DP8409123-4
2 20m (65.6ft) DP9400064-5 DP8409123-5
J Connector Kit (DE9411290) for PG

SERVOPACK End
Connector on SERVOPACK end only.
2CN
This section describes the functions of the main circuit terminals, the main circuit wiring, and
the power-ON sequence of a typical Σ-Series Servo.
J Functions of Main Circuit Terminals
The following table shows the name and description of each main circuit terminal:
Terminal
Name Description
Symbol
10 %, 50/60 Hz
Three-phase 200 to 230 VAC +–15
L1, L2, L3 Main power input terminals
U, V, W Motor connection terminal Used to connect motor
10 %, 50/60 Hz
Single phase 200 to 230 VAC +–15
L1C, L3C Control power input terminals
Connected to earth.
¢2 Ground terminal
(For power ground and motor ground).
Regenerative resistor unit con-

+, B Normally, external connection is not required.
nection terminal
Regenerative resistor unit con- Terminal used to connect regenerative resistor for
+1, B
nection terminal SERVOPACK with power capacity more than 5 kW.
N Main circuit negative terminal Normally, external connection is not required.
Note: A SERVOPACK with power capacity of 3 kW or less does not have a +1 terminal.
2 -20
J Typical Wiring Example
Three-phase 200 to 230 VAC + 10% (50/60 Hz)

–15%
R S T SERVOPACK
SGDB- AM
L1C
L3C
L1
L2 2
L3
(Servo alarm display) 22

ALM+
Main circuit power 23

Main circuit ALM−
power
1MCCB: Circuit breaker (for inverter type) 1PL: Lamp for display
FIL: Noise filter 1SUP: Surge suppressor
1MC: Contactor 1D: Flywheel diode
1Ry: Relay
J Power ON Sequence Design

Form a power ON sequence as follows:
D Form a power ON sequence so that the power is turned OFF when a servo alarm signal is
output. (See the circuit diagram above.)
D Hold down the power ON push-button for at least two seconds. The SERVOPACK outputs
a servo alarm signal for approximately two seconds or less when the power is turned ON.
This operation is required to initialize the SERVOPACK.
Power supply
Servo alarm (ALM) output signal
2 -21
Basic Use
J Wiring Precautions
D Do not wire power lines and signal lines in the same duct or bundle them together.
Wire such that signal lines are kept apart from power lines by at least 30 cm.
D Twisted pair wire and shielded multi-core twisted-pair wires should be used for signal lines,
encoder (PG) feedback lines.
The length for wiring is 5 m maximum for the command input line, 20 m maximum for
the PG feedback line.
D Do not touch the power terminal even if power was turned OFF.
High voltage may still remain in SERVOPACK.
2 Perform inspection only after the CHARGE lamp is OFF.
D Do not turn the power ON and OFF frequently.
Since the SGDB SERVOPACK has a capacitor in the power supply unit, a high charging
current will flow for approximately 0.2 seconds when power is turned ON.
Therefore, frequently turning the power ON and OFF causes the main circuit devices (such
as capacitors and fuses) to deteriorate, resulting in unexpected problems.
2 -22
2.4 Conducting a Test Run
This section describes how to conduct a full test run. The test run is divided into two steps. Com-
plete a test run in step 1 first, then proceed to step 2.
2.4.1 Test Run in Two Steps
Conduct the test run when wiring is complete. Generally, conducting a test run for servo drives
can be difficult. However, by following the two steps described below, the test run can be per- 2
formed safely and correctly.
IMPORTANT To prevent accidents, initially conduct a test run only for a servomotor under no load (i.e., with all couplings and
belts disconnected). Do not run the servomotor while it is connected to a machine.
Step 1: Conducting a test run for the motor without load
Check that the motor is wired correctly.

Conduct a test run with the motor shaft disconnected from the machine.
Operate the motor with a

Digital Operator.
Check wiring.
Do not
connect to a
machine.
Step 2: Conducting a test run with the motor and machine connected
Adjust SERVOPACK according to machine characteristics.

Connect to the machine and conduct a test run.
Speed adjustment by
autotuning
SGDB
Motor
Connect to the machine.
2 -23
Basic Use
2.4.2 Step 1: Conducting a Test Run for Motor without Load
Check that the motor is wired correctly.

If the motor fails to rotate properly during a servo drive test run, the cause most frequently lies
with incorrect wiring.
D Check power supply circuit wiring.

D Check servomotor wiring.
D Check I/O signal wiring (1CN and 6CN).
Wherever possible, perform host controller adjustments and other relevant operations in Step
2 1 (before installing a Servomotor on the machine).
Conduct a test run for the motor without load according to the procedure described below.
For customers who use a servomotor with brake, refer to 2.4.4 Supplementary Information on
Test Run before starting a test run.
Operate the motor with a

Digital Operator.
Check wiring.
Do not connect
to the machine.
J Securing the Servomotor Secure servomotor to mounting holes.
Secure the servomotor to mounting holes to prevent Do not connect

anything to the
it from moving during operation. Alternatively, dis- motor shaft
(no-load status).
connect couplings and belts.
J Checking the Servomotor Wiring

Disconnect connector 1CN and 6CN, then check
Disconnect
the motor wiring in the power supply circuit. connectors
I/O signals (1CN and 6CN) are not to be used so 1CN and 6CN.
leave connector 1CN and 6CN disconnected.
2 -24
J Turning the Power ON

Turn ON the SERVOPACK. If the SERVOPACK is turned ON normally, the POWER indicator
on the front panel will light.
Sending an ALM command through the serial communications line will return an “ALM P.P-
OT” response. If a Digital Operator is connected, the display will appear as shown below.
The indicator on the Digital Operator will light as shown in the figure.
Normal display
Alternately displayed
Example of alarm display

2
Power is not supplied to the servomotor because the servo is OFF.
If an alarm display appears on the LED as shown in the figure above, the power supply circuit,
motor wiring or encoder wiring is incorrect. In this case, turn the power OFF, then correct the
problem. Refer to Appendix D List of Alarm Displays.
J Operation by Serial Communications

Run the servomotor by sending a serial command. Check that the servomotor is running nor-
mally.
Refer to 4.2 Serial Communications Commands for details on the operation method.
J Operation Using Digital Operator Operate Using Digital Operator.
If serial communications cannot be executed and a

Digital Operator is installed, use the Digital Operator
to run the servomotor, and check that it is running nor-
If an alarm occurs, the power supply
mally. circuit, motor wiring, or encoder
wiring is incorrect.
Refer to 5.2.2 Operation Using the Digital Operator.
J Connecting Signal Lines

Use the following procedure to attach the 1CN and
6CN connectors. Connect
connectors 1CN
and 6CN.
1. Turn OFF the power.
2. Connect connectors 1CN and 6CN.
3. Turn ON the power again.
2 -25
Basic Use
J Checking Input Signals
Check the input signal wiring either by using a serial communications monitor command, or
by using the monitor mode of the Digital Operator.
For details on the operation method, refer to 4.2.2 Reading Data from a SERVOPACK and
5.1.10 Monitor Mode.
To check input signals, turn each connected signal line ON and OFF, and verify that the bit
display on the monitor changes as indicated in the table below.
Input Signal ON/OFF Serial Monitor Monitor Bit Display on

2 Command Response Digital Operator
High level or open OFF 1 Not lit
Low level or closed ON 0 Lit
If the signal lines are not wired correctly, the servomotor may not rotate. Make sure wiring is
correct. If a signal line is not being used, short it out as necessary. Memory switch settings can
be used to eliminate the need to perform external short-circuit wiring.
Signal Symbol Connector Pin Explanation

Number
P-OT 1CN-30 Servomotor can rotate forward when input from signal line is
0 V.
N-OT 1CN-31 Servomotor can reverse when input from signal line is 0 V.
/S-ON 1CN-28 Servomotor is turned ON when input from signal line is 0 V.

This line need not be connected when serial commands SVON
and SVOFF are used.
Leave the servomotor in OFF state at this time.
STOP 6CN-24 Servomotor can be operated in automatic mode and zero point
return mode when input from signal line is 0 V.
J Turning ON the Servo
Use the following procedure to turn ON the servo.
1. Check that no command has been input.
• Turn OFF /AST (6CN-22), /ZRN (6CN-13), /MAN (6CN-14), /PULS (6CN-15),
/MCW (6CN-16), and /MCCW (6CN-17).
• When using digital switches, set the position and speed command values to 0.
• When using the serial communications, stop serial communications.
• When using pulses, set PULS (1CN-3) and SIGN (1CN-6) to 0 V.
2 -26
SERVOPACK
Servomotor
(1CN-28)
Turn ON the servo.
2. Turn ON the servo. Display when servo is turned ON
Either set /S-ON signal (1CN-28) to 0V, or send

the serial command SVON. In normal circum-
stances, the servomotor will be turned ON, and
COIN will be returned in response to the ALM
serial command. 2
If a Digital Operator is connected, its display
will be as shown in the figure on the right.
J Operation by Command Input

In automatic mode, the operating procedure differs according to the positioning mode (Cn-27)
setting.
After referring to Chapter 3, set the command speed and command position, and start the ser-
vomotor.
Incorrect wiring or a command input error or parameter setting error can cause the motor to
overrun. When turning ON the servomotor, be sure to be in a position to perform an emergency
stop at any time.
1. Slow down the command speed (to 100 r/min or less), then set the position command and
enter an operation start command.
The method of entering the speed and position commands differs according to the position-
ing mode. Enter values according to the current positioning mode.
When the command table method is used, it is necessary to write the command values in
the position table and speed table in advance. Refer to either 4.2.1 Sending Commands to
a SERVOPACK and 4.4 Serial Commands for Settings and Monitoring, or to 5.1.7 Position
Table Setting Mode and 5.1.8 Speed Table Setting Mode, as appropriate.
2. Use the serial communications monitor command or the monitor mode of the Digital Op-
erator to check the following items:
Monitor Command Digital Operator Content of Monitor

Un Number
MON0 Un-00 Actual rotation speed of servomotor (r/min)
MON1 Un-01 Command speed (× 1000 command units/min)
MONF Un-0F Current position (command units)
2 -27
Basic Use
2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine
• Does the motor rotate?

• Does the motor stop at the command position?
• Do the speed command and rotation speed match? (If the positioning distance is too
short, positioning may be completed before the motor speed reaches the command
speed.)
• Is the motor rotating in the desired direction?
3. When changing the direction of rotation or the command unit, reset the following parame-
ters:
Cn-23 to Cn-25 Electronic Gear Ratio
2 Cn-02 bit 0 Reverse rotation mode
If the above operation produces an alarm or the servomotor fails to operate, either the 1CN
or 6CN wiring is incorrect, or the parameter settings do not agree with the specifications
of the host controller. Check the wiring or review the parameter settings, then repeat step
1 above.
For details, refer to Appendix C List of Parameters and Appendix D List of Alarm Displays.
2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the
Machine
WARNING
D Operation faults that arise after the motor is connected to the machine not only damage the ma-
chine but may also cause an accident resulting in injury or death.
Before proceeding to step 2, repeat step 1 (conducting a test run for the motor without load)
until you are fully satisfied that the test has been completed successfully. All items including
parameters setting and wiring should be tested as conclusively as possible before step 1 is com-
plete.
After step 1 is complete, proceed to step 2 in which a test run is conducted with the motor con-
nected to the machine. The purpose of step 2 is to adjust the SERVOPACK according to the
machine characteristics.
D To perform autotuning to adjust the motor according to machine characteristics

D To match the speed and direction of rotation with the machine specifications
D To check the final control mode
SGDB Servomotor
SERVOPACK
Connect to the machine.
2 -28
Conduct a test run according to the procedure described below.
1. Turn the SERVOPACK power OFF.

2. Connect the servomotor to the machine.
Refer to 2.2.2 Installing a Servomotor.
3. Tune the SERVOPACK according to the machine characteristics.
Refer to 5.2.3 Autotuning.
4. Operate by command input.
As in 2.4.2 Step 1: Conducting a Test Run for Motor without Load, perform Operation by
Command Input on page 2 -27. Perform tuning associated with the host controller.
5. Set parameters and record the settings.
2
Set parameters as necessary. Record all the parameter settings for maintenance purposes.
This is all that is required to conduct the test run.
Normally, the machine may cause much friction because of an insufficient running-in period.
After a test run is complete, perform adequate running-in.
2.4.4 Supplementary Information on Test Run

In the following cases, always refer to the information described below before starting a test
run:
D When using a servomotor with a brake

D When performing position control from the host controller
J When Using a Servomotor with Brake

The brake prevents the motor shaft from rotating due to a backdriving torque. Such a torque
may be created by an external force or the force of gravity acting on the load and may result
in undesired motion or the load, should motor power be lost.
SERVOPACK uses the brake interlock output (BK) signal to control holding brake operation
for a servomotor with brake.
Vertical Axis Axis to Which External Force is Applied
Servomotor
Holding brake External force

Servomotor
Prevents the
motor from
rotating due to
gravity
To prevent faulty operation caused by gravity (or external force), first check that the motor and holding brake
IMPORTANT
operate normally with the motor disconnected from the machine. Then, connect the motor to the machine and
conduct a test run.
2 -29
Basic Use
2.4.4 Supplementary Information on Test Run
For wiring of a servomotor with a brake, refer to 3.14.2 Holding Brake.
Single-phase SERVOPACK
100 V or 200 V
Brake control relay
Brake power supply

LPDE-1H01 (100 V input)
LPSE-2H01 (200 V input)
Servomotor with brake
2 -30
3
Advanced Use
3
This chapter explains how to set parameters for each purpose and how to
use each function. Read the applicable sections according to your require-
ments.
Before Reading this Chapter . . . . . . . . . . . . . . . . 3-4

3.1 Setting Up the Σ SERVOPACK . . . . . . . . . 3-5
3.1.1 Setting the Motor Model . . . . . . . . . . . . . . . . . . . . 3-5
3.1.2 Setting the Number of Encoder Pulses . . . . . . . 3-6
3.1.3 Direction of Motor Rotation . . . . . . . . . . . . . . . . . . 3-7
3.1.4 Parameter Settings for Machine System . . . . . . 3-7
3.1.5 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.1.6 Setting the Acceleration/Deceleration Type
and Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 11
3.1.7 Setting Speed Limits . . . . . . . . . . . . . . . . . . . . . . . 3 - 15
3.1.8 Setting Torque Limits . . . . . . . . . . . . . . . . . . . . . . . 3 - 15
3.1.9 Setting Stored Stroke Limits . . . . . . . . . . . . . . . . . 3 - 18
3.1.10 Setting Backlash Compensation . . . . . . . . . . . . . 3 - 19
3.2 Signals Common to All Modes . . . . . . . . . . 3 - 20

3.2.1 Servo ON Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 20
3.2.2 Pause Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 21
3.2.3 Overtravel Limit Function . . . . . . . . . . . . . . . . . . . 3 - 24
3.2.4 Operation Mode Selection . . . . . . . . . . . . . . . . . . 3 - 28
3.2.5 Operation Mode Display Output . . . . . . . . . . . . . 3 - 29
3.2.6 Operation Start Input . . . . . . . . . . . . . . . . . . . . . . . 3 - 30
3.2.7 Reset and Alarm Reset Input . . . . . . . . . . . . . . . . 3 - 32
3.2.8 Servo Alarm Output . . . . . . . . . . . . . . . . . . . . . . . . 3 - 33
3 -1
Advanced Use
3.2.9 Command Error Outputs . . . . . . . . . . . . . . . . . . . . 3 - 34

3.2.10 Alarm Code Outputs . . . . . . . . . . . . . . . . . . . . . . . 3 - 36
3.2.11 Positioning Complete and
Positioning Proximity Signals . . . . . . . . . . . . . . . . 3 - 38
3.2.12 Servo Ready Output Signal . . . . . . . . . . . . . . . . . 3 - 41
3.2.13 Running Detection Signal . . . . . . . . . . . . . . . . . . . 3 - 42
3.2.14 OL Warning and Alarm Output Signals . . . . . . . . 3 - 44
3.2.15 Analog Monitor Signals . . . . . . . . . . . . . . . . . . . . . 3 - 45
3.3 Feed Speed Setting in Automatic and

Manual Operation Modes . . . . . . . . . . . . . . 3 - 47
3.4 Automatic Mode: Station Numbers . . . . . . 3 - 49
3.4.1 Position Command Input Signals . . . . . . . . . . . . 3 - 51
3 3.4.2 Rotating Direction Select Input . . . . . . . . . . . . . . 3 - 52

3.4.3 Current Station Number Output and
Station Number Read Selection Input . . . . . . . . 3 - 53
3.4.4 Station Proximity Signal . . . . . . . . . . . . . . . . . . . . 3 - 55
3.4.5 Manual Operation Mode . . . . . . . . . . . . . . . . . . . . 3 - 56
3.4.6 Inputting Speed Command Data . . . . . . . . . . . . . 3 - 56
3.5 Automatic Mode: Digital Switches . . . . . . . 3 - 59

3.5.1 Position Command Input Signals, Speed Command
Input Signals, and Strobe Output Signals . . . . . 3 - 61
3.5.2 Speed Command . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 66
3.5.3 Digital Switch Unit . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 67
3.5.4 Contact Input Unit . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 68
3.6 Automatic Mode: Serial Communications 3 - 70

3.6.1 Serial Commands . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 72
3.7 Automatic Mode: Command Table . . . . . . 3 - 87

3.7.1 Data Number Input Signals . . . . . . . . . . . . . . . . . 3 - 89
3.7.2 Zone Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . 3 - 90
3.7.3 Speed Command Input . . . . . . . . . . . . . . . . . . . . . 3 - 93
3.8 Manual Mode . . . . . . . . . . . . . . . . . . . . . . . . 3 - 94

3.9 Pulse Operation Mode . . . . . . . . . . . . . . . . . 3 - 95
3.10 Machine Zero Point Return Mode . . . . . . . 3 - 99
3.10.1 Machine Zero Point Return Mode I
(Bits 2 and 3 of Cn-29 Set to 0) . . . . . . . . . . . . . . 3 - 100
3.10.2 Machine Zero Point Return Mode II (Bits 2 and 3
of Cn-29 Set to 1 and 0 Respectively) . . . . . . . . 3 - 101
3.10.3 Machine Zero Point Return Mode III
(Bits 2 and 3 of Cn-29 Set to 1) . . . . . . . . . . . . . . 3 - 101
3 -2
3.11 Encoder Outputs . . . . . . . . . . . . . . . . . . . . . 3 - 103
3.12 External Pulse Generators . . . . . . . . . . . . . 3 - 106
3.13 External Position Indicator . . . . . . . . . . . . . 3 - 108
3.14 Setting the Stop Function . . . . . . . . . . . . . . 3 - 110
3.14.1 Dynamic Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 110
3.14.2 Holding Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 111
3.15 Smooth Operation . . . . . . . . . . . . . . . . . . . . 3 - 114

3.15.1 Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 114
3.15.2 Setting the Torque Command Filter
Time Constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 115
3.16 Minimizing Positioning Time . . . . . . . . . . . . 3 - 117

3.16.1 Autotuning Function . . . . . . . . . . . . . . . . . . . . . . . . 3 - 117
3.16.2 Servo Gain Switching . . . . . . . . . . . . . . . . . . . . . . 3 - 117
3
3.16.3 Feed-forward Control . . . . . . . . . . . . . . . . . . . . . . . 3 - 118
3.16.4 Speed Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 118
3.16.5 Proportional Control . . . . . . . . . . . . . . . . . . . . . . . . 3 - 119
3.16.6 Mode Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 119
3.17 Handling Power Loss . . . . . . . . . . . . . . . . . . 3 - 123

3.18 Special Wiring . . . . . . . . . . . . . . . . . . . . . . . . 3 - 124
3.18.1 Wiring Instructions . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 124
3.18.2 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . 3 - 125
3.18.3 Using More Than One Servodrive . . . . . . . . . . . . 3 - 130
3.18.4 Using Regenerative Resistor Units . . . . . . . . . . . 3 - 131
3.18.5 Using an Absolute Encoder . . . . . . . . . . . . . . . . . 3 - 133
3.18.6 Extending an Encoder Cable . . . . . . . . . . . . . . . . 3 - 136
3.18.7 Using SGDB SERVOPACK with
High Voltage Lines . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 139
3.18.8 Connector Terminal Layouts . . . . . . . . . . . . . . . . . 3 - 140
3 -3
Advanced Use
Before Reading this Chapter
This chapter describes how to use each 1CN or 6CN connector I/O signals and how to set the corre-
sponding parameter.
Other related sections in this manual are listed below.
D For a list of I/O signals of 1CN and 6CN connectors, refer to Appendix B List of I/O Signals.
D For terminal layout for I/O signals of 1CN and 6CN connectors, refer to 3.18.8 Connector
Terminal Layouts.
D For a list of parameters, refer to Appendix C List of Parameters.
D For details on how to set parameters using serial communications, refer to 4.4.1 List of
Commands.
3 D For details on how to set parameters using the Digital Operator, refer to 5.1.6 Parameter
Setting Mode.
The 1CN and 6CN connectors are used to output signals to and input them from external circuits
or devices (e.g., host controllers).
Parameters are divided into the following two types.
Memory switches Set each bit to ON or OFF to select a function.

Cn-01, Cn-02, Cn-26, Cn-29,
Cn-32, Cn-33 and Cn-39
Parameter settings Set numerical values, such as a torque limit value or speed loop gain.
Memory switches other than
Cn-03 to Cn-3F
3 -4
3.1 Setting Up the Σ SERVOPACK
This section describes how to set parameters.
3.1.1 Setting the Motor Model
To ensure that the Σ-series Servo System operates properly, set the model of the servomotor
in the following parameter.
Cn-2A Motor Code Factory Settings: Shown below
Set this memory switch according to the servomotor model.
After changing this parameter setting, turn the power OFF, then ON.
SERVOPACK Model Cn-2A Factory Motor Model Cn-2A Setting

3
Setting (Motor Code)
SGDB-05AM 142 SGMG-03AjB 171
SGM-04A 106
SGMP-04A 126
SGMG-05AjA 142
SGM-08A 107
SGMP-08A 127
SGMG-09AjA 143
SGMG-09AjB 173
SGMS-10AjA 163
SGMG-13AjA 144
SGMP-15A 128
SGMS-15AjA 164
SGDB-20AM 145 SGMG-20AjA 145
SGMG-20AjB 175
SGMS-20AjA 165
SGDB-30AM 146 SGMD-22AjA 155
SGMG-30AjA 146
SGMG-30AjB 176
SGMS-30AjA 166
SGDB-50AM 147 SGMD-32AjA 156
SGMG-44AjA 147
SGMG-44AjB 177
SGMS-40AjA 167
SGMD-40AjA 157
SGMS-50AjA 168
3 -5
Advanced Use
3.1.2 Setting the Number of Encoder Pulses
SERVOPACK Model Cn-2A Factory Motor Model Cn-2A Setting

Setting (Motor Code)
SGMG-60AjB 178
SGDB-1AAM 140 SGMG-1AAjA 140
SGDB-1EAM 150 SGMG-1EAjA 150
The motor model used can be changed within the same group.
3.1.2 Setting the Number of Encoder Pulses
To ensure that the Σ-series Servo System operates properly, set the encoder type and the num-
ber of encoder pulses in the following parameters:
3 Cn-01 Bit E Encoder Type Factory Setting: 0
Set the encoder type according to the servomotor model.
After changing the memory switch setting, turn the power OFF, then ON.
Encoder Number of Encoder Pulses Per Revolution Value

Specifications in
Motor Model
2 Incremental encoder: 8192 pulses per revolution
3 Incremental encoder: 2048 pulses per revolution 0
W Absolute encoder: 1024 pulses per revolution

1
S Absolute encoder: 8192 pulses per revolution
Cn-11 Number of Unit: Pulses Per Setting Range: Factory Setting:

Encoder Pulses Revolution (P/R) 513 to 32768 8192
Set the number of encoder pulses according to the servomotor model.
After changing this memory switch setting, turn the power OFF, then ON.
Encoder Number of Encoder Pulses Per Revolution Value

Specifications in
Motor Model
W Absolute encoder: 1024 pulses per revolution 1024
S Absolute encoder: 8192 pulses per revolution 8192
3 -6
3.1.3 Direction of Motor Rotation
This SERVOPACK provides a reverse rotation mode in which the direction of rotation can be
reversed without altering the servomotor wiring.
If reverse rotation mode is used, the direction of motor rotation can be reversed without other
changes.
With the standard setting, forward rotation is defined as counterclockwise (CCW) rotation
viewed from the drive end.
Command Standard Setting Reverse Rotation Mode
Encoder output Encoder output from

from SERVOPACK SERVOPACK
Forward (+) PAO (Phase A) PAO (Phase A) 3
PBO (Phase B) PBO (Phase B)
Encoder output Encoder output from

from SERVOPACK SERVOPACK
Reverse (−) PAO (Phase A) PAO (Phase A)
PBO (Phase B) PBO (Phase B)
J Setting Reverse Rotation Mode

Set bit 0 of memory switch Cn-02 to select reverse rotation mode.
Cn-02 Bit 0 Reverse Rotation Mode Factory Setting: 0
Setting Meaning
Forward rotation is defined as counterclockwise

0 rotation when viewed from the drive end.
(Standard setting)
Forward rotation is defined as clockwise rotation

1 when viewed from the drive end.
(Reverse rotation setting)
3.1.4 Parameter Settings for Machine System
Set bit 1 of memory switch Cn-26 according to the machine configuration.
Cn-26 Bit 1 Finite/infinite Length Mode Setting Factory Setting: 0
3 -7
Advanced Use
3.1.5 Electronic Gear
Setting Meaning
0 Finite length mode
1 Infinite length mode
If the machine has limited travel, set the memory switch bit to finite length mode. The stored
stroke limit function becomes effective in this mode.
Refer to 3.1.9 Setting Stored Stroke Limits for information on the stored stroke limit function.
Mechanical configurations such as ball screws and transport trucks are examples of machines
with limited travel.
If the machine has unlimited travel, set the memory switch bit to infinite length mode. The
stored stroke limit function will not be effective in this mode.
3 Disc tables, press feeders, and conveyor belts are examples of machines with unlimited travel.
Cn-26 Bit 2 Linear/Rotational Mode Factory Setting: 0
Setting Meaning
0 Linear mode
1 Rotational mode
For linear motion, set bit 2 of Cn-26 to 0 (linear mode). In this mode, the position coordinates
can be in the range of −99999999 to +99999999 (command units).
For rotational motion, set bit 2 of Cn-26 to 1 (rotational mode). In this mode, the range for posi-
tion coordinates is from 0 to Cn-23 − 1 (command units). Cn-23 is the number of command
units per machine revolution. The position returns to the zero point after one revolution.
The electronic gear function enables the motor travel distance per input command unit to be
set to any value. It allows the host controller to perform control without having to consider the
machine gear ratio and the number of encoder pulses.
3 -8
When Electronic Gear Function When Electronic Gear Function

is not Used is Used
Workpiece Command
unit: 1 μm
Workpiece
Number of Ball screw

encoder lead: 6 mm
Number of Ball screw pulses: 2,048
encoder lead: 6 mm
pulses: 2,048
Machine conditions and command unit
To move a workpiece 10 mm: must be defined for the electronic gear
function beforehand.
One revolution is equivalent to 6 mm, so
10
6 = 1.6666 (revolutions)
2048 × 4 (pulses) is equivalent to one revolution, so
1.6666 × 2,048 × 4 = 13,653 (command unit) To move a workpiece 10 mm:
A total of 13653 pulses must be input as the command unit. Command unit is 1 μm, so
10 mm
1 μm = 10,000 command units
The host controller needs to make this calculation.
J Setting the Electronic Gear

Calculate the electronic gear ratio (B/A) according to the procedure below and set the value 3
in Cn-23, Cn-24 and Cn-25.
1. Check the machine specifications.

Items related to electronic gear:
• Gear ratio
Ball screw lead
• Ball screw lead Gear ratio
• Pulley diameter
2. Determine the command unit to be used.
Command unit is the minimum unit of position To move a table in 0.001 mm units
Command unit: 0.001 mm
data used for moving the load. (Minimum unit
of command from host controller)
Examples:
0.01 mm, 0.001 mm, 0.1°, 0.01 inch
Command input of one unit moves the load by
one command unit.
Determine the command unit according to
Example: When command unit is 1 μm machine specifications and positioning
accuracy.
If a command of 50,000 units is input, the load
moves 50 mm (50,000 × 1 μm).
3. Determine the load travel distance per revolution of load shaft in command units.
Load travel distance per revolution of load shaft (in command units)
Load travel distance per revolution of load shaft (in unit of distance)
=
Command unit
Example: When ball screw lead is 5 mm and command unit is 0.001 mm
5/0.001 = 5,000 (command units)
4. Determine the electronic gear ratio B .

A

Check the electronic gear ratio so that the load (reduction gear output) makes “L” revolu-
tions when the motor (reduction gear input) makes “M” revolutions. The nominal gear ra-
tio may not be a precise value. Determine the exact ratio from the number of gear teeth.
3 -9
Advanced Use
Incorrect positioning will result unless a precise gear ratio is specified.

5. Set parameters.
Cn-23: Command units per machine revolution (the value calculated in 3.)
Cn-24: Speed of motor shaft rotation (4 × “M” observed in 4.)
Cn-25: Speed of load shaft rotation (“L” observed in 4.)
Check that the following conditions are met:

0.01 ≦ Electronic gear ratio B = Cn-11 (number of encoder pulses) × Cn-24 ≦ 100
A Cn-23 × Cn-25
If the electronic gear ratio is outside this range, the SERVOPACK will not work properly.
Modify the machine configuration (gear ratio, ball screw lead, number of motor encoder
pulses) or command unit so that the above conditions are met.
3 SERVOPACK positioning accuracy will be the number of encoder pulses (Cn-11) × 4 per mo-

tor revolution. When the electronic gear ratio B is less than 1, the minimum command unit
A
is smaller than the SERVOPACK positioning accuracy. In other words, the actual positioning
accuracy is less than the minimum command unit.
J Examples of Setting an Electronic Gear Ratio

The following examples show electronic gear ratio settings for different load mechanisms.
Ball Screw
Command unit: 0.001 mm Travel distance per = 6 mm = 6000
revolution of load shaft 0.001 mm
(Cn-23)
Load shaft Motor shaft rotation speed (Cn-24) = 1 × 4 = 4
Load shaft rotation speed (Cn-25) = 1
Ball screw lead: 6 mm
Disc Table
Travel distance per = 360° = 3600
revolution of load shaft 0.1°
Command unit: (Cn-23)
Gear ratio:
0.1° Motor shaft rotation speed (Cn-24) = 3 × 4 = 12
3:1
Load shaft rotation speed (Cn-25) = 1
Load shaft
Belt & Pulley

Travel distance per
Command unit: 0.0254 mm = 3.14 x 100 mm = 12362
Load shaft revolution of load shaft 0.0254 mm
(Cn-23)
Motor shaft rotation speed (Cn-24) = 12 × 4 = 48
Gear ratio: Load shaft rotation speed (Cn-25) = 5
2.4 : 1 Pulley diameter:
100 mm
3 -10
3.1.6 Setting the Acceleration/Deceleration Type and Rate
Exponential acceleration/deceleration or other types of acceleration/deceleration (linear or S-

shaped acceleration/deceleration) can be selected for each operation mode in the SERVO-
PACK.
The selection is made using bit 0 in memory switch Cn-39.
Cn-39 Bit 0 Acceleration/Deceleration Type Factory Setting: 0
Setting Meaning
0 Do not use an acceleration/deceleration type.
1 Use an acceleration/deceleration type.
Set bit 0 of Cn-39 to 0 to select 1-step linear acceleration/deceleration for all operation modes. 3
Set bit 0 of Cn-39 to 1 to enable the settings in bits 1, 2, 8, A, C, and E of Cn-39.
Cn-39 Bit 8 Acceleration/Deceleration Type for Factory Setting: 0

Automatic Operation Mode
Cn-39 Bit A Acceleration/Deceleration Type for Factory Setting: 0

Manual Operation Mode
Cn-39 Bit C Acceleration/Deceleration Type for Pulse Factory Setting: 0

Operation Mode
Cn-39 Bit E Acceleration/Deceleration Type for Zero Factory Setting: 0

Point Return Mode
Setting Meaning
0 Linear or S-shaped acceleration/deceleration
1 Exponential acceleration/deceleration
Set the acceleration/deceleration type for each operation mode.
If the type is set to 0, the acceleration/deceleration type for that operation mode will be based
on the settings in bits 1 and 2 of Cn-39.
If the type is set to 1, the acceleration/deceleration type for that operation mode will be expo-
nential acceleration/deceleration.
The following settings in bits 1 and 2 of Cn-39 are enabled only when bit 8, A, C, or E of Cn-39
in each operation mode is set to 0.
Cn-39 Bit 1 1-step/2-step Linear Factory Setting: 0

Acceleration/Deceleration Selection
3 -11
Advanced Use
Setting Meaning
0 1-step acceleration/deceleration
1 2-step acceleration/deceleration
This setting is enabled only when bit 0 of Cn-39 is set to 1 and bit 2 of the same memory switch
is set to 0.
If bit 1 is set to 0, 1-step linear acceleration/deceleration will be used.
If bit 1 is set to 1, 2-step linear acceleration/deceleration will be used.
Cn-39 Bit 2 S-shaped Acceleration/Deceleration Factory Setting: 0
Setting Meaning
3 0 Not used.
1 Used.
This setting is enabled only when bit 0 of Cn-39 is set to 1.
When bit 2 is set to 0, the acceleration/deceleration will be linear according to the setting in
bit 1 of Cn-39.
When bit 2 is set to 1, the acceleration/deceleration will be S-shaped.
The acceleration/deceleration rate for each type of acceleration/deceleration is set using the
following parameters:
J For 1-step Linear Acceleration and Deceleration
Cn-1F First Feed Speed Unit: ×1000 Setting Range: Factory Setting:
command 0 to 240000 500
units/min
Cn-3A Linear Unit: ms Setting Range: Factory Setting:

Acceleration/Deceleration 8 to 60000 100
Time 1
The speed is shown in the following diagram:
V1
α α
t
T1 T1
V1: The feed speed set in memory switch Cn-1F.
3 -12
T1: Linear acceleration/deceleration time set in memory switch Cn-3A.

The acceleration/deceleration rate α is calculated as V1/T1.
J For 2-step Linear Acceleration and Deceleration
command 0 to 240000 500
units/min
Cn-3A Linear Unit: ms Setting Range: Factory Setting:

Time 1
Cn-3B Linear Unit: ms Setting Range: Factory Setting:

Time 2
3
Cn-3C 2-step Linear Unit: ×1000 Setting Range: Factory Setting:
Acceleration/Deceleration command 0 to 240000 500
Acceleration Switching units/min
Speed
The speeds are shown in the following diagram.
α2 α2
V1 V1
V2 V2
α 1 α 1
T2 T2
T1 T1
V1: Feed speed set in memory switch Cn-1F.

V2: Switching speed set in memory switch Cn-3C.
T2: Linear acceleration/deceleration time set in memory switch Cn-3B.
Acceleration/deceleration α is calculated as V1/T1, α2 as (V1 − V2)/T2, and these remain
constant even if the feed speed changes.
J For S-shaped Acceleration and Deceleration
command 0 to 240000 500
units/min
Cn-3A Linear Unit:ms Setting Range: Factory Setting:

Time 1
3 -13
Advanced Use
Cn-19 S-shaped Unit:ms Setting Range: Factory Setting:

Time
The speeds are shown in the following diagram.
V1
T2 T1 T2
V1: Feed speed set in memory switch Cn-1F.

3
T2: S-shaped acceleration/deceleration time set in memory switch Cn-19.
Acceleration/deceleration rate α is calculated as V1/T1.
J Exponential Acceleration and Deceleration
Cn-3D Exponential Unit: ms Setting Range: Factory Setting:

Constants
Cn-3E Exponential Unit: ×1000 Setting Range: Factory Setting:

Acceleration/Deceleration command 0 to 240000 0
Bias Speed units/min
The following diagram shows the speeds.
Speed
Set speed
0 t
Exponential acceleration
/deceleration time constant
(Setting range: 8 to1000; Unit: ms)
Exponential acceleration/deceleration bias speed
(Setting range: 0 to 240000; Unit: 1000 command units/min)
3 -14
3.1.7 Setting Speed Limits
Set speed limits for the SERVOPACK if the maximum rotating speed of the motor is higher
than the allowable rotating speed for the machine.
Set the following parameters when using speed limits.
Cn-03 Speed Limit Unit: ×1000 Setting Range: Factory Setting:

command 1 to 240000 10000
units/min
3.1.8 Setting Torque Limits
The SGDB SERVOPACK can provide the following torque controls:
D Level 1: To restrict the maximum output torque to protect the machine or workpiece (inter- 3
nal torque limit)
D Level 2: To restrict torque after the motor moves the machine to a specified position (exter-
nal torque limit)
J How to Set Level 1: Internal Torque Limit

The maximum torque is restricted to the values set in the following parameters.
Cn-10 Torque Limit Unit: % Setting Range: Factory Setting:

0 to 800 800
The same maximum torque value is set for both forward and reverse rotation.
Set this value to limit the torque according to machine conditions.
The setting unit is a percentage of the rated torque.
The torque limit is always applied.
If a value higher than the maximum torque is set, the maximum torque value is used.
A signal can be output to indicate that the torque is being restricted. Refer to 2. Using /CLT
Signal under How to Set Level 2: External Torque Limit.
Example of Use: Machine Protection
Torque limit
Motor speed
Note that too small a torque limit value will
result in torque shortage at acceleration or
deceleration.
Torque
J How to Set Level 2: External Torque Limit

First, use a contact input signal to make the torque (current) limit value set in the parameter
valid. Torque limit can be set separately for forward and reverse rotation.
3 -15
Advanced Use
3.1.8 Setting Torque Limits
SGDB SERVOPACK
Without
Forward torque limit
rotation Speed
/P-CL Torque
1CN-33 With Cn-08
torque limit
Speed
Torque
Without
torque limit
Reverse
rotation Speed
/N-CL Torque
1CN-34 With
torque limit Cn-09
Speed
Torque
3 P-CL ON: Torque limit is applied to forward rotation. Limit value:

1CN-33 is at low level. Cn-08
OFF: Torque limit is applied to forward rotation. −

1CN-33 is at high level.
N-CL ON: Torque limit is applied to reverse rotation. Limit value:

1CN-34 is at low level. Cn-09
OFF: Torque limit is applied to reverse rotation. −

A signal can be output to indicate that the torque is being limited. Refer to 2. Using /CLT Signal
later in this section.
Examples of Use:
D Forced Stopping
Cn-08 Forward External Torque Unit: % Setting Range: Factory Setting:

Limit 0 to 800 800
Cn-09 Reverse External Torque Unit: % Setting Range: Factory Setting:

Limit 0 to 800 800
Sets a torque limit value when torque is restricted by external contact input.
When /P-CL (1CN-33) is input Torque limit set in memory switch Cn-08 is applied during
forward rotation.
When /N-CL (1CN-34) is input Torque limit set in memory switch Cn-09 is applied during
reverse rotation.
1. Using /P-CL and /N-CL Signals
This section describes how to use input signals /P-CL and /N-CL as torque limit input sig-
nals.
3 -16
24-V power supply SGDB SERVOPACK
1CN-35
Photocoupler
Host controller 5 mA
/P-CL 1CN-33
/N-CL 1CN-34
→ Input /P-CL 1CN-33 Forward External Torque Limit Input
→ Input /N-CL 1CN-34 Reverse External Torque Limit Input
These signals are for forward and reverse external torque (current) limit input.
This function is useful in forced stopping. 3
A signal can be output to indicate that the torque is being limited. Refer to 2. Using /CLT
Signal below.
2. Using /CLT Signal
This section describes how to use contact output /CLT signal for torque limit detection out-
put.
24-V power supply
SGDB SERVOPACK
Photocoupler Output
Per output: /CLT +
Maximum operating voltage:
30 VDC /CLT −
Maximum output current:
50 mA DC
→ Output /CLT 1CN-*1 Torque Limit Detection Output
This signal indicates whether motor output torque (current) is being restricted.
ON status: The circuit between 1CN-*1 and Motor output torque is being restricted.
1CN-*2 is closed. (Internal torque command is greater than the pre-
1CN-*1 is at low level. set value.)
OFF status: The circuit between 1CN-*1 and Motor output torque is not being restricted.
1CN-*2 is open. (Internal torque command is equal to or below the
1CN-*1 is at high level. preset value.)
Set the following parameter to select the output pin for the signal.
Cn-2D Output Signal Selection Setting Range: Factory Setting:

111 to 666 214
Select which function signal will be output as the 1CN output signal.
3 -17
Advanced Use
3.1.9 Setting Stored Stroke Limits
1’s digit Selects 1CN-16, 17 (/BK) functions
10’s digit Selects 1CN-18, 19 (/TGON) functions
100’s digit Selects 1CN-20, 21 (/S-RDY) functions
Setting Function Reference Section
1 /TGON 3.2.13
2 /S-RDY 3.2.12
3 /CLT 3.1.8
4 /BK 3.14.2
5 Overload warning 3.2.14
3 6 Overload alarm 3.2.14
Example: The torque limit signal (/CLT) will be output to 1CN-18 and 1CN-19.
Cn-2D = j3j
3.1.9 Setting Stored Stroke Limits
The stored stroke limit function sets in a parameter the range that the moving part of the ma-
chine can travel. Commands will not be accepted, and the machine will be stopped at a preset
position if this range is exceeded by manual or pulse operation. The machine will decelerate
to stop at a specified rate.
Limit switches can be omitted if the stored stroke limit function is used.
J Stored Stroke Limit Function

In finite mode (memory switch Cn-26 bit 1 = 0), operation is controlled so that the current posi-
tion of the motor will not exceed the set limits. An error will be detected if the current position
is not within the set limits after a positioning operation.
In infinite mode (memory switch Cn-26 bit 1 = 1), an error will not be detected even if the cur-
rent position is not within the set limits after a positioning operation.
Set the following memory switch bit to use the stored stroke limit function:
Cn-32 Bit 4 Stored Stroke Limit Factory Setting: 0
Use the following settings to specify whether or not the stored stroke limit function is to be
used:
Setting Meaning
0 Do not use the stored stroke limit function. (Standard setting)
1 Use the stored stroke limit function.
3 -18
Set the moveable range using the following parameters:
Cn-06 Forward Rotation Stored Unit: Setting Range: Factory Setting:

Stroke Limit Command unit −99999999 to +99999999
+99999999
Cn-07 Reverse Rotation Stored Unit: Setting Range: Factory Setting:

Stroke Limit Command unit −99999999 to −99999999
+99999999
IMPORTANT When an incremental encoder and finite length mode are used, the stored stroke limit function is disabled from
when the control power is turned ON until the zero point return operation is completed.
When an incremental encoder and finite length mode are used, the stored stroke limit function cannot be used
for applications that do not perform the zero point return operation.
3.1.10 Setting Backlash Compensation 3

If there is backlash in the machine system, the backlash compensation function offsets the
backlash when the direction of rotation is changed. Set the backlash offset in the following pa-
rameter:
Cn-0D Backlash Offset Unit: Setting Range: Factory Setting:

PG pulses −30000 to 0
(× 4) +30000
After positioning in the forward direction, the Cn-0D value will be added to the current position
before positioning in the reverse direction.
After positioning in the reverse direction, the Cn-0D value will be subtracted from the current
position before positioning in the forward direction.
3 -19
Advanced Use
3.2.1 Servo ON Signal
3.2 Signals Common to All Modes
3.2.1 Servo ON Signal
This section describes how to wire and use contact input signal “servo ON (/S-ON).” Use this
signal to turn the servomotor ON or OFF from the host controller.
24-V power supply

SGDB SERVOPACK
Photo-
1CN-35 coupler
Host controller
/S-ON 1CN-28
→ Input /S-ON 1CN-28 Servo ON
This signal is used to turn the motor ON or OFF.
ON: Turns the motor ON. This is normal Servo ON

Motor is ON.
1CN-28 is at operation state (called “servo ON Motor is
low level state”). operated
OFF: Turns the motor OFF. This is inoper- according to
input signals.
1CN-28 is at able state (called “servo OFF state”).
high level Servo OFF
The servo can be turned OFF during
motor operation only when an emer- Motor is OFF.
gency stop is required.
Motor
cannot run.
In the SERVOPACK, the same operation as the /S-ON signal can be performed using the SVON
and SVOFF serial commands. If these serial commands are used, wiring for /S-ON input is not
required.
Refer to Chapter 4 Using Serial Communications for information on serial commands.
IMPORTANT Do not use the /S-ON signal or SVON or SVOFF commands to stop and start the motor. Always input com-
mands to stop and start the motor.
If the /S-ON signal or SVON and SVOFF commands are not to be used, set the following
memory switch bit to 1.
Cn-01 Bit 0 Use of /S-ON Signal and SVON, SVOFF Factory Setting: 0
Commands
3 -20
This memory switch bit is used to enable or disable the servo ON input signal /S-ON (1CN-28).
When external short-circuit wiring is omitted, set the memory switch bit to “1.”
SGDB SERVOPACK
1CN When /S-ON is not used, this
-28 short-circuit wiring can be omitted.
/S-ON
Setting Meaning
Use servo ON signal /S-ON (1CN-28) or SVON and SVOFF commands.

(For /S-ON signal: When 1CN-28 is open, servo is OFF. When 1CN-28 is closed, servo is
0 ON.)
(For serial commands: When SVOFF is issued, servo is OFF. When SVON is issued, servo
is ON.)
1
Do not use servo ON signal /S-ON (1CN-28) or SVON and SVOFF commands. (The servo
is always ON when the control power supply and the main circuit power supply are turned
3
ON. This has the same effect as shorting 1CN-28 to 0 V.)
3.2.2 Pause Inputs
This section describes how to wire and use the STOP contact input signal. This signal is used
to pause operation from the host controller.
24-V power supply

SGDB SERVOPACK
Photo-
6CN-25 coupler
Host controller
/S-ON 6CN-24
→ Input STOP 6CN-24 Pause
The STOP signal is the pause command input signal in automatic operation and zero point re-
turn modes. If this signal is input during operation, the rising edge of the signal will be detected
and the motor will be stopped at the deceleration rate set in the parameter. The STOP signal
requires a pulse width of 8 ms or greater.
ON: 6CN-24 is at low level The motor runs in automatic operation and zero point return modes.
OFF: 6CN-24 is at high level The motor is stopped in automatic operation and zero point return
modes.
3 -21
Advanced Use
3.2.2 Pause Inputs
8 ms min.
STOP
Speed
α
0
t
The following memory switch bit can be set to allow the feed hold function to be used with
the STOP signal.
3 Cn-33 Bit 2 Residual Data after STOP Signal Factory Setting: 0
Setting Meaning
0 Retains data (feed hold)
1 Discards data (no feed hold)
The feed hold function (positioning based on residual data) restarts the machine using the tar-
get position and feed speed specified by the previous command values (before the machine has
been stopped) if the machine has been stopped using the STOP signal before positioning is
completed and the start operation signal /AST is then input. If bit 2 of Cn-33 is set to 0, the
feed hold function will be enabled. If it is set to 1, after the machine stops, the machine will
be restarted using the target position and feed speed specified when the start operation signal
/AST is input.
Position command data p1 p2
Speed command data v1 v2
/AST
STOP
Speed
v1
p1’ p1” p1”
0
t
(p1’ + p1” = p1)
If the /AST signal is input when the STOP signal is at high level (open), the feed hold function
will be performed.
3 -22
Setting data A B
(position, speed)
/AST
STOP
Speed Positioning using

A data.
0 Feed hold t
The following diagram shows an operation example when the STOP signal is used.
Setting data X Y
(position, speed)
/AST
3
STOP
Speed
0
(Positioning based t
on residual data)
Feed hold
Positioning using
data Y.
Positioning using data X.
The feed hold is released (positioning based on residual data cleared) under the following
conditions:
D When the STOP signal is at low level (closed), the /AST signal has been input, and the posi-
tioning based on residual data has been completed.
D When the operation mode has been switched, for example, from automatic operation to
manual operation mode.
D When the servo has been turned OFF.
Set the following memory switch bit to 1 when not using the STOP signal.
Cn-33 Bit 0 STOP Signal Used/Not Used Factory Setting: 0
Set whether or not the STOP signal (6CN-24) is to be used. Set this bit to 1 if external wiring
is omitted.
SGDB SERVOPACK
6CN Short circuit wiring can be
-24 omitted if the STOP signal is
(STOP) not used.
3 -23
Advanced Use
3.2.3 Overtravel Limit Function
Setting Meaning
Use the STOP signal (6CN-24). (When 6CN-24 is open, servo is stopped. When 6CN-24 is
0
closed, servo operates normally.)
Do not use the STOP signal (6CN-24). (Normal operation status. This has the same effect as
1
shorting 6CN-24 to 0 V.)
If the STOP signal is left unconnected (open), the servo will always be stopped and cannot op-
erate in automatic operation or zero point return mode. If the STOP signal is not used, short
circuit to 0 V or set bit 0 of Cn-33 to 1.
IMPORTANT The STOP signal is not enabled in manual operation and pulse operation modes.

3 The overtravel limit function forces the moving part of the machine to stop when it exceeds
the movable range.
J Using the Overtravel Limit Function

To use the overtravel limit function, connect the following overtravel limit switch input signals
to the corresponding 1CN connector pins of the SERVOPACK.
Forward Rotation Prohibited

→ Input P-OT 1CN-30 (Forward Overtravel)
Reverse Rotation Prohibited

→ Input N-OT 1CN-31 (Reverse Overtravel)
Note: P-OT and N-OT will still prohibit forward rotation and reverse rotation, respectively, even
if the motor rotation direction is changed using the method outlined in 3.1.3 Direction of
Motor Rotation.
When using linear drive, connect a limit switch or set and use a stored stroke limit switch as
explained in 3.1.9 Setting Stored Stroke Limits to avoid machine damage.
IMPORTANT There is up to 1-ms delay from when the SERVOPACK detects the P-OT or N-OT signal until braking is applied,
and there is further braking time before the machine stops. Consider these delays when setting limit switches and
set the overtravel limits a inside the motion limit for the machine.
P-OT and N-OT functions can be reversed using the settings in bit 8 of Cn-33.
Cn-33 Bit 8 Overtravel Signal Switching Factory Setting: 0
Select the OT signal function using the following settings:
Setting Meaning
Uses the P-OT input signal (1CN-30) for prohibiting forward rotation. (Normal setting.)
0
Uses the N-OT input signal (1CN-31) for prohibiting reverse rotation.
Uses the P-OT input signal (1CN-30) for prohibiting reverse rotation. (Normal setting.)
1
Uses the N-OT input signal (1CN-31) for prohibiting forward rotation.
3 -24
J Switching Use of Input Signals

Use the following memory switch bits to specify whether input signals for overtravel are to be
used.
Cn-01 Bit 2 Use of Forward Rotation Prohibit Input Factory Setting: 0

Signal
Cn-01 Bit 3 Use of Reverse Rotation Prohibit Input Factory Setting: 0

Signal
SGDB SERVOPACK
1CN
-30
(P-OT)
The short-circuit wiring shown in the
-31 figure can be omitted when P-OT
(N-OT) and N-OT are not used.
3
Parameter Setting Meaning
Cn-01 Bit 2 0 Use forward rotation prohibit input signal. (When 1CN-30 open,
(Factory setting) forward rotation prohibited. Forward rotation permitted at 0 V.)
1 Do not use forward rotation prohibit input signal. (Forward rotaion

always permitted. This has the same effect as short-circuiting
1CN-30 to 0 V.)
Cn-01 Bit 3 0 Use reverse rotation prohibit input signal. (When 1CN-31 open,
(Factory setting) reverse rotation prohibited. Reverse rotation permitted at 0 V.)
1 Do not use reverse rotation prohibit input signal. (Reverse rotation

always permitted. This has the same effect as short-circuiting
1CN-31 to 0 V.)
3 -25
Advanced Use
Motor Stop Method at Overtravel

If the P-OT and N-OT input signals are used, set the following parameters to specify how to
stop the motor.
Specify how to stop the motor when either of the below signals is input.
• Inputs signal for inhibit forward rotation.

• Inputs signal for inhibit reverse rotation.
Cn-01 Bit 8 How to Stop Motor at Overtravel Factory Setting: 0
Cn-01 Bit 9 Operation to be Performed when Motor Factory Setting: 0

Stops after Overtravel
Overtravel
Stop mode After stop

3 0
Stop by
dynamic brake
0 Releasing
Bit 6 dynamic brake
1 Coasting to a
stop
Bit 8
0 Servo OFF
1 Deceleration
Bit 9
stop
1 Zero-clamp
Cn-01 Bit 8 0 Stops the motor in the same way as when the servo is turned OFF.
The motor is stopped by dynamic brake or coasts to a stop. Either
of these stop modes is selected by setting bit 6 of Cn-01.
1 Decelerates to stop at the maximum torque of the motor used.
If deceleration stop mode is selected, specify the operation to be done after the motor stops.
Cn-01 Bit 9 0 Turns the servo OFF when the motor stops in deceleration stop
mode.
1 Causes the motor to enter zero-clamp status after it stops in decel-

eration stop mode.
Cn-33 Cn-01 Memory switch

Bit 8 Bit 2
Max. torque
P-OT Input signal for
Cn-01
(1CN-30) inhibit forward Stop by dynamic brake
Bit 3
rotation
N-OT
(1CN-31) Coasting to a stop
Input signal for
inhibit reverse
rotation
3 -26
Motor Stop Method at Servo OFF

The SERVOPACK enters servo OFF status when:
• Servo ON input signal (/S-ON, 1CN-28) is turned OFF.

• Servo alarm arises.
• Power is turned OFF.
Specify how to stop the motor when one of the above events occurs during operation.
Cn-01 Bit 6 How to Stop Motor at Servo OFF Factory −

Setting: 0
Cn-01 Bit 7 Operation to Be Performed when Motor Factory Invalid for 2.0 kW
Stops after Servo OFF Setting: 1 or more
Servo OFF After stop

Stop mode 0
Releasing
dynamic brake
3
Stop by
Bit 7
Dynamic brake is a function that
0 dynamic brake electrically applies brakes by using a
Holding
Bit 6 1 dynamic brake resistor to consume motor rotation energy.
1 Coasting to a
stop
Cn-01 Bit 6 0 (Factory setting) Stops the motor by dynamic brake.
1 Causes the motor to coast to a stop.

The motor power is OFF and stops due to machine friction.
If dynamic brake stop mode is selected, specify the operation to be performed when the motor
stops.
Cn-01 Bit 7 0 Releases dynamic brake after the motor stops.
1 (Factory setting) Does not release dynamic brake even after the motor stops.
Note: For SERVOPACKs of 2.0 kW or more, bit 7 of Cn-01 can be set to 0 only.
3 -27
Advanced Use
3.2.4 Operation Mode Selection
3.2.4 Operation Mode Selection
This section describes how to wire and use three contact input signals for operation mode selec-
tion: /ZRN, /MAN, and /PULS. These signals are used when selecting the operation mode from
the host controller.
→ Input /ZRN 6CN-13 Zero Point Return Mode Selection Input
→ Input /MAN 6CN-14 Manual Operation Mode Selection Input
→ Input /PULS 6CN-15 Pulse Operation Mode Selection Input
The input levels for each signal and the selected operation modes are shown in the following
3 table.
Operation Operation Mode General Operation

Mode Setting Signal
/MAN /PULS /ZRN
Automatic H H H Sets position data and performs positioning accord-

ing to the /AST signal.
Manual L H H Performs constant speed operation using manual op-

eration signals /MCCW and /MCW.
Pulse H L H Performs positioning using the pulse train com-

mands.
Zero Point H H L Performs the zero point return operation set in the
Return parameter according to the /AST signal.
Don’t Use H L L With these settings, a mode error will occur and an
/ERR signal will be output
output.
L H L
Operation will not be possible.
L L H
L L L
Note: 1. If the operation mode is switched during motor operation, the motor will decelerate to
a stop at the set deceleration rate. The residual command data will not be kept, i.e. there
is no feed hold.
2. An interval of at least 50 ms is required between switching operation modes and starting
operation (/AST, /MCCW, /MCW).
3 -28
3.2.5 Operation Mode Display Output
This section describes how to wire and use two photocoupler output signals for operation mode
display outputs using /AUT-LT and /MAN-LT. These output signals show when operation is
possible in automatic or manual mode.
24-V power supply

SGDB SERVOPACK
+24 V
Photocoupler Output
Per output: 6CN-2 /AUT-LT
Maximum operation voltage:
30 VDC
50 mA DC
6CN-3 /MAN-LT
6CN-1 0V1
3
Output → /AUT-LT 6CN-2 Automatic Operation Mode Display Output
Output → /MAN-LT 6CN-3 Manual Operation Mode Display Output
/AUT-LT ON status The circuit between 6CN-1 The motor is turned ON (servo ON)
and 6CN-2 is closed. and automatic operation mode is se-
6CN-2 is at low level. lected.
OFF status The circuit between 6CN-1 The motor is turned OFF (servo OFF)
and 6CN-2 is open. or automatic operation mode is not se-
6CN-2 is at high level. lected.
/MAN-LT ON status The circuit between 6CN-1 The motor is turned ON (servo ON)
and 6CN-3 is closed. and manual operation mode is selected.
6CN-3 is at low level.
OFF status The circuit between 6CN-1 The motor is turned OFF (servo OFF)
and 6CN-3 is open. or manual operation mode is not se-
6CN-3 is at high level. lected.
3 -29
Advanced Use
3.2.6 Operation Start Input
3.2.6 Operation Start Input
This section describes how to wire and use a contact input signal to start operation with /AST.
This signal is used when starting operation in automatic operation and zero point return modes.
24-V power supply Turns ON at 500 Hz 25% duty

and reads the contact.
+24 V 1 kΩ
+24 V1 6CN-25
Photocoupler
8.2 kΩ
Host controller
3.3 kΩ
/AST 6CN-22
3 3 mA
Photocoupler
500 Hz 25% Duty
Input → /AST 6CN-22 Operation Start
The memory switch setting changes the effective logic.
The effective logic for /AST signals based on these memory switch combinations is shown in
the following table.
In the following table, open signals are represented by high level and closed signals are repre-
sented by low level.
Cn-33 Bit B 0 1 0 1
Cn-33 Bit C 0 0 1 1
Input Logic H
L
These signals require a minimum pulse width of 8 ms.
/AST signals are enabled under the following conditions and motor operation will start:
D The motor is ON (servo ON).

D Automatic operation mode or zero point return mode has been selected.
D The STOP signal is closed (at low level), or disabled using the memory switch bit.
D Position command is normal.
D Speed command is normal.
If either the position command or speed command is not normal, a command error output /ERR
will be generated. Refer to 3.2.9 Command Error Outputs.
3 -30
The /AST signal will be ignored in the following cases:
D When the motor is OFF (servo OFF).

D When the motor is operating.
D When not in automatic or zero point return mode.
3 -31
Advanced Use
3.2.7 Reset and Alarm Reset Input
3.2.7 Reset and Alarm Reset Input
This section describes how to wire and use two contact input signals for the reset input signal
/RST and alarm reset input signal /ALMRST. These signals are used for the initial reset of the
SERVOPACK and to reset the servo alarm.
24-V power supply Turns ON at 500 Hz 25% duty

and reads the contact.
+24 V 1 kΩ
+24 V1 6CN-25
Photocoupler
8.2 kΩ
Host controller
3.3 kΩ
3 /RST 6CN-18
Photocoupler
8.2 kΩ
3.3 kΩ
/ALMRST 6CN-23
Photocoupler
3 mA
500 Hz 25% Duty
Input → /RST 6CN-18 Reset
The /RST input signal resets the SERVOPACK. The operation is the same as turning the control
power supply OFF and ON again. This signal is used to change offline parameter or memory
switch settings. The RES serial command performs the same operation.
When the SERVOPACK is initially reset, the alarm signal ALM will turn OFF after approxi-
mately 2 seconds. After the ALM signal turns ON again, the servo starts normal operation.
Input → /ALMRST 6CN-23 Alarm Reset
The /ALMRST input signal resets a servo alarm when it occurs. The alarm can also be reset
using the serial command ARES or from the Digital Operator. The alarm is also reset when
the control power supply is turned OFF and ON again.
When an alarm is generated, reset the alarm only after eliminating the cause of the alarm. Refer
to 7.2.1 Troubleshooting Problems with Alarm Display.
Both /RST and /ALMRST signals are enabled by closing the signal (low level) for 8 ms mini-
mum.
3 -32
3.2.8 Servo Alarm Output
This section describes how to wire and use a photocoupler output signal for alarm output signal
ALM.
24-V power supply

SGDB SERVOPACK
Photocoupler +24 V 0V
Photocoupler Output 1CN-22 ALM+
Per output:
Maximum operation voltage: MAX
30 VDC 50 mA ALM−
Maximum output current: 1CN-23
50 mA DC
Prepare a separate external 24-V power supply. There is no power supply terminal for external
output from the SGDB SERVOPACK. 3
The ALM signal is handled as follows:
Output → /ALM+ 1CN-22 Servo Alarm Output
Output → /ALM− 1CN-23 Signal Ground for Servo Alarm Output
This signal remains ON when SGDB SERVOPACK is operating normally, and turns OFF when
an alarm is detected.
SGDB SERVOPACK
Alarm
Wire the main circuit power
detected ALM output supply so that it turns OFF
when an alarm is generated.
Configurate the external circuit so that ALM signal turns OFF the main circuit power supply
to the SGDB SERVOPACK.
ON status: The circuit between 1CN-22 and 1CN-23 is closed. Normal

OFF status: The circuit between 1CN-22 and 1CN-23 is open. Alarm
Alarm code output signals /AL0, /AL1, /AL2, and /AL3 are used to indicate different types of
alarms.
Refer to 3.2.10 Alarm Code Outputs for details on alarm codes.
3 -33
Advanced Use
3.2.9 Command Error Outputs
3.2.9 Command Error Outputs
This section describes how to wire and use a photocoupler output signal for command error
output signal /ERR. This signal is output when there is a command data or operation error
caused by the contact signal or a command error in serial communications in fixed-length
mode. The motor cannot be operated if this signal is output.
Output → /ERR 6CN-27 Command Errors
The command error output signal turns ON (circuit between 6CN-27 and 6CN-26 closed,
6CN-27 at low level) under the following conditions:
1. Mode Selection Input Errors

• When two or more operation mode selection input signals (/MAN, /PULS, /ZRN) turn
3 ON while the motor is ON (servo ON).
Turn the motor OFF (servo OFF) or return the operation mode selection input signals
to normal status to clear the error.
• When the line PG selection signal (/LPG)is input in pulse operation mode.
Turn OFF the line PG selection signal (/LPG) to clear the error.
2. Position Data Errors
• When non-BCD data (A to F) is specified and the operation start signal (/AST) is input
although position data have been set in BCD.
• When station 0 is specified and the operation start signal (/AST) is input although abso-
lute commands and no station 0 have been set in station number command mode.
Correct the position data and input the operation start signal (/AST) or temporarily
switch the operation mode to other than automatic operation mode to clear the error.
3. Speed Data Errors
• When inputting speed data that exceeds the speed limit (maximum motor speed or pa-
rameter Cn-03 setting, whichever is smaller) and an operation start signal (/AST,
/MCCW, /MCW) is input.
Correct the speed data and input the operation start signal (/AST, /MCCW, /MCW) or
temporarily switch the operation mode to other than automatic operation mode to clear
the error.
4. Overtravel
• When the overtravel limit switch (P-OT or N-OT) is activated (including situations
where the load is moved by an external force when the motor is OFF (servo OFF)).
Return the machine to a position where the overtravel limit switch is not activated to
clear the error.
3 -34
5. Stored Stroke Limit Switch Errors

• When position data is input as position data that exceeds the stored stroke limit switch
setting and the operation start signal (/AST) is input in automatic operation mode.
Correct the position data and input the operation start signal (/AST) or temporarily
switch the operation mode to other than automatic operation mode to clear the error.
• When the stored stroke limit switch position is reached during operation in manual or
pulse operation modes and the motor stops.
• When the load is moved by an external force and reaches the stored stroke limit posi-
tion when the motor is OFF (servo OFF).
Return the machine to within the stored stroke limit to clear the error.
6. Communications Errors
• Parity errors generated during serial communications in fixed length mode.
• Overrun errors generated during serial communications in fixed length mode.
• Framing errors generated during serial communications in fixed length mode.
3
The error will be cleared when the next normal data is received.
7. Command Errors
• Undefined command received during serial communications in fixed length mode.
8. Number Errors
• When a command that requires arguments for serial communications in fixed length
mode is received, but the argument is missing or exceeds the allowable setting range.
Example: In the parameter setting command PRMnn = mmmmmmmm, nn is missing
or nn is outside the range 1 ≦ nn ≦ 3F.
9. Data Errors
• When a command that requires data for serial communications in fixed length mode
is received, but the data is missing or exceeds the allowable setting range.
Example: In the parameter setting command PRMnn = mmmmmmmm,
mmmmmmmm is missing or exceeds the setting range for each parameter.
3 -35
Advanced Use
3.2.10 Alarm Code Outputs
3.2.10 Alarm Code Outputs
This section describes how to wire and use photocoupler output signals for alarm code output
signals /AL0, /AL1, /AL2, and /AL3.
These sequence output signals indicate the 24-V power supply

operation status of the SGDB SERVOPACK. SGDB SERVOPACK
+24 V 0V
Photocoupler Output Photocoupler
Per output: 6CN-6 /AL0
Maximum operation voltage:
30 VDC MAX
50 mA
50 mA DC 6CN-7 /AL1
6CN-8 /AL2
3
6CN-9 /AL3
6CN-1 0V1
Prepare a separate external 24-V power supply. There is no power supply terminal for external
output from the SGDB SERVOPACK.
Alarm code output signals /AL0, /AL1, /AL2, and /AL3 are handled as follows:
Output → /AL0 6CN-6 Alarm Code Output (1)
When an alarm is generated (ALM signal is at high level) or a command error has been gener-
ated (/ERR signal is at low level), an alarm code indicating the type of alarm or command error
will be output. These alarm codes are used to display the alarm on the host controller.
The relationship between alarm display and the alarm code output outlined above is shown in
3 -36
Item Alarm Display ALM /ERR Alarm Code Output Alarm Name
7-seg- Serial Serial /AL3 /AL2 /AL1 /AL0

ment Data Data
LED (Commu- (Fixed-
nications length
Mode) Mode)
Status . No serial No serial L H H H H H Motor Command Normal

transmis-
i transmis-
i L L L H L H O
ON processing
i Mode error
sion
sion. sion
sion.
L L L H L L Position
error
L L L L H H Speed error
−. L H H H H H Motor power supply interrupted
(servo OFF)
P. P-OT POT L L H H L H Forward rotation overtravel
P-LS PLS L L H L H H Forward rotation outside stored 3
stroke limit
n. N-OT NOT L L H H L L Reverse rotation overtravel
N-LS NLS L L H L H L Reverse rotation outside stored
stroke limit
E. Not de- ERRE1 L L L L L H Communications error
tected
ERR SN ERRE2 Command error
ERR PN ERRE3 Number error
ERR OV ERRE4 Data error
Alarm 0. A.00 ALM00 H H H H H H Absolute encoder data alarm
A.02 ALM02 Parameter breakdown
A.04 ALM04 Parameter setting alarm
1. A.10 ALM10 H H H H H L Overcurrent
3. A.30 ALM30 H H H H L L Regenerative alarm
4. A.40 ALM40 H H H L H H Main circuit voltage alarm
5. A.51 ALM51 H H H L H L Overspeed
7. A.71 ALM71 H H H L L L Overload (high load)
A.72 ALM72 Overload (low load)
A.7A ALM7A Heat sink overheat
8. A.80 ALM80 H H L H H H Encoder zero point alarm
A.81 ALM81 Absolute encoder backup alarm
A.82 ALM82 Absolute encoder checksum
alarm
A.83 ALM83 Absolute encoder battery alarm
A.84 ALM84 Absolute encoder data alarm
A.85 ALM85 Absolute encoder overspeed
3 -37
Advanced Use
3.2.11 Positioning Complete and Positioning Proximity Signals
Item Alarm Display ALM /ERR Alarm Code Output Alarm Name
7-seg- Serial Serial /AL3 /AL2 /AL1 /AL0

ment Data Data
LED (Commu- (Fixed-
nications length
Mode) Mode)
Alarm C. A.C1 ALMC1 H H L L H H Servo overrun alarm

A.C2 ALMC2 Encoder phase error detection
alarm
A.C3 ALMC3 Encoder phases A and B
disconnection
A.C4 ALMC4 Encoder phase C disconnection
b. A.B0 ALMB0 H H L H L L Hardware alarm
d. A.D0 ALMD0 H H L L H L Position error pulse overflow
3 F. A.F1 ALMF1 H H L L L L Power line open phase detect
A.F3 ALMF3 Power loss
= Undefined Undefined H Undefined CPU alarm
Note: H: Output transistor is ON

L: Output transistor is OFF
Refer to Appendix D List of Alarm Displays.
When the automatic operation mode is in station number command mode, the alarm code can
be output as the higher-place digit of the current station number output. Refer to 3.4.3 Current
Station Number Output and Station Number Read Selection Input.
This section describes how to wire and use photocoupler input signals for the positioning com-
plete output (/POS1) and positioning proximity output signals (/POS2). These signals indicate
that the servomotor move is complete.
24-V power supply

SGDB SERVOPACK
+24 V 0 V
Photocoupler Output
Per output: 6CN-4 /POS1
30 VDC
50 mA DC 6CN-5 /POS2
6CN-1 0V1
Output → /POS1 6CN-4 Positioning Complete Output (/COIN)
3 -38
This output signal indicates that motor move is complete. The host controller uses this signal
as an interlock to confirm that positioning is complete.
Speed Command Motor
Cn-1B t
Error pulse
(Un-08)
/POS1
(6CN-4)
ON status The circuit between 6CN-4 and The command distribution and positioning are
6CN-1 is closed. complete
6CN-4 is at low level. (position error is below the preset value).
3
OFF status The circuit between 6CN-4 and The command distribution or positioning is not
6CN-1 is open. complete
6CN-4 is at high level. (position error is above the preset value).
Set the output range in the following parameter to adjust the output timing of the positioning
complete signal.
Cn-1B Positioning Complete Unit: Setting Range: Factory Setting:

Width Command Unit 0 to 250 7
This parameter is used to set the output timing of the positioning complete signal (/POS1,
6CN-4) to be output when pulse distribution has been completed in the SERVOPACK.
Set the number of error pulses in command units (the minimum position command unit that
is defined using the electronic gear function).
Speed Command Motor
Cn-1B t
Error pulse
(Un-08)
/POS1
(6CN-4)
The positioning complete width has no effect on the final positioning accuracy.
Output → /POS2 6CN-5 Positioning Proximity Output (/NEAR)
This output signal indicates that the motor operation is near complete.
3 -39
Advanced Use
The host controller uses this signal as an interlock to prepare for the next command.
Speed Command Motor
Cn-2B t
Error pulse
(Un-08)
/POS2
(6CN-5)
ON status The circuit between 6CN-5 and Positioning complete is near

6CN-1 is closed. (position error is below the preset value).
3 OFF status The circuit between 6CN-5 and Positioning complete is not near
6CN-1 is open. (position error is above the preset value).
Set the output range in the following parameter to adjust the output timing of the positioning
proximity signal.
Cn-2B Positioning Proximity Unit: Setting Range: Factory Setting:

Width Command Unit 0 to 3000 20
This parameter is used to set the output timing of the positioning proximity signal (/POS2,
6CN-5) when motor operation is complete.
Set the number of error pulses in command units (the minimum position command unit that
is defined using the electric gear function).
If too large a value is set in this parameter, the error may become too small when the motor
runs at a low speed, causing /POS2 signals to be output continuously.
Speed Command Motor
Cn-2B t
Error pulse
(Un-08)
/POS2
(6CN-5)
When automatic operation is in station number command mode, the positioning proximity sig-
nal can be changed to a station proximity signal.
Refer to 3.4.4 Station Proximity Signal.
3 -40
3.2.12 Servo Ready Output Signal
This section describes how to wire and use a photocoupler output for the /S-RDY signal (servo
ready).
“Servo ready” means that the SERVOPACK is not in servo alarm state when the main circuit
is turned ON.
24-V power supply
SGDB SERVOPACK
Photocoupler Output
Per output: /S-RDY+
30 VDC /S-RDY−
50 mA DC 3
Output → /S-RDY Servo Ready Output
This signal indicates that the SERVOPACK is ready to receive servo ON signals (/S-ON signal
or SVON command).
ON status Circuit is closed or signal is at low level. Servo ready state
OFF status Circuit is open or signal is at high level. Not in servo ready state
Use the following parameter to specify the pin to which the /S-RDY signal is to be output.

111 to 666 214
This parameter is used to specify a function signal as the 1CN output signal.
1’s digit Select the 1CN-16 and 1CN-17 (/BK) functions.
10’s digit Select the 1CN-18 and 1CN-19 (/TGON) functions.
100’s digit Select the 1CN-20 and 1CN-21 (/S-RDY) functions.
3 -41
Advanced Use
3.2.13 Running Detection Signal
1 /TGON 3.2.13
2 /S-RDY 3.2.12
3 /CLT 3.1.8
4 /BK 3.14.2
6 Overload alarm 3.2.14
Example: /S-RDY is output to 1CN-20 and 1CN-21.

Cn-2D=2jj
3 3.2.13 Running Detection Signal
This section describes how to wire and use photocoupler output for the running detection signal
/TGON.
This signal indicates that a servomotor is currently running.
24-V power supply
SGDB SERVOPACK
Photocoupler Output
Per output: /TGON+
30 VDC /TGON−
50 mA DC
Output → /TGON Running Detection
This output signal indicates that the motor is cur- Motor speed
rently running. It is used as an external interlock.
/TGON
ON status Circuit is closed or signal is at Motor is running.

low level. (Motor speed is greater than the preset value.)
OFF status Circuit is open or signal is at Motor is stopped.

high level. (Motor speed is below the preset value.)
Use the following parameter to specify the pin to which the /TGON signal is to be output.

111 to 666 214
3 -42
1 /TGON 3.2.13
2 /S-RDY 3.2.12
3 /CLT 3.1.8
4 /BK 3.14.2
5 Overload warning 3.2.14 3

Example: /TGON is output to 1CN-18 and 1CN-19.

Cn-2D=j1j
Set the following parameter to specify the motor speed level at which running detection signals
are output.
Cn-0B Motor Speed Detection Unit: r/min Setting Range: Factory Setting:
Level 1 to 10000 20
This parameter is used to set the speed level at which the SERVOPACK determines that the
motor is running and then outputs signals.
The following signals are output when motor speed exceeds the preset value. (The circuit is
closed when motor speed exceeds the preset value.)
Output Signals when Motor Rotation is Detected:
S /TGON
S Bit 3 of serial communications internal status monitor signal MON5
S Bit 4 of Digital Operator internal status monitor 1 Un-05
S Digital Operator status display mode
3 -43
Advanced Use
3.2.14 OL Warning and Alarm Output Signals
3.2.14 OL Warning and Alarm Output Signals
This section describes how to wire and use photocoupler output signals OLWRN (overload
warning) and OL (overload alarm).
These two output signals are output when operation under the rated current or more continues
for a certain period of time. The overload warning signal is output in 20% of the time required
to output the overload alarm signal.
Operating time Overload Alarm level

(seconds)
Overload warning level
3 Rated current Instantaneous peak current

Current
24-V power supply
SGDB SERVOPACK
Photocoupler Output
Per output: OLWRN (OL+)
30 VDC OLWRN−(OL−)
50 mA DC
Output → OLWRN Overload Warning Output
Output → OL Overload Alarm Output
OLWRN is an overload warning output signal, and OL is an overload alarm output signal.
ON status Circuit is closed or signal is at low level. Normal state
OFF status Circuit is open or signal is at high level. Warning or alarm state
Use the following parameter to specify the pin to which the /TGON signal is to be output.

111 to 666 214
3 -44
1 /TGON 3.2.13
2 /S-RDY 3.2.12
3 /CLT 3.1.8
4 /BK 3.14.2
Example: Overload warning is output to 1CN-18 and 1CN-19.

Cn-2D=j5j
3.2.15 Analog Monitor Signals 3

Two monitor signals using analog voltages are output.
Output → TRQ-M 1CN-11 Torque Monitor Signal
Output → VTG-M 1CN-12 Speed Monitor Signal
The signal specifications for these outputs can be changed in the following memory switches.
Cn-02 Bit 6 TRQ-M Specifications Factory

Setting: 0
Bit 7 VTG-M Specifications Factory

Setting: 0
Bit E Differential Pulse Monitor Level Switch Factory

Setting: 0
J TRQ-M
Cn−02 Bit 6 Specifications

0 Torque monitor signals +2 V/+100% torque
1 Speed command monitor*
J VTG-M
Cn-02 Bit 7 Specifications

0 Speed monitor*
1 Differential Pulse Monitor Cn-02 bit E = 0: 0.05 V/1 command
unit
Differential Pulse Monitor Cn-02 bit E = 1: 0.05 V/100
command unit
3 -45
Advanced Use
3.2.15 Analog Monitor Signals
* The unit depends on the Motor Series.

SGMG or SGMD: 2 V/1000 r/min
SGMS, SGM, or SGMP: 1 V/1000 r/min
The analog monitor signals can be taken from the 5NC connector using a special cable
(DE9404559).
White
Red
5CN
Black
Black
3 Enlargement of 5CN
Cable Color Signal Name Signal

Red VTG-M Speed/Differential pulse
monitor
White TRQ-M Torque/Speed command
monitor
Black (two) GND Ground
3 -46
3.3 Feed Speed Setting in Automatic and Manual Operation Modes
3.3 Feed Speed Setting in Automatic and Manual Operation

Modes
The feed speed setting method differs depending on the position command method set at parameter
Cn-27 for automatic operation mode in the factory settings. These feed speed setting methods are
outlined in the following table.
Cn-27 Position Command Feed Speed Setting Method

Setting Method in Automatic
Operation Mode
0 Station numbers Select from 4 speeds set in parameter through contact

input.
1 Digital switches Set with digital switch.

3
2 Serial communications Set in SPD command.
4 Command table Select from speed table through contact input.
Refer to information on individual automatic mode operation methods for details on feed speed
setting methods.
Set the following memory switch bit to change the feed speed setting method in automatic and
manual operation modes.
Cn-32 Bit 5 Feed Speed Setting for Automatic Factory Setting: 0

Operation
Setting Meaning
0 Feed speed setting methods for automatic operation outlined in the previous table.
1 Feed speed setting methods for automatic operation based on parameter Cn-18.
Cn-32 Bit 6 Feed Speed Setting for Manual Factory Setting: 0

Operation
Setting Meaning
0 Feed speed setting methods for manual operation utlined in the previous table.
1 Feed speed setting methods for automatic operation based on parameter Cn-18.
If the bit in memory switch Cn-32 is set to 1, the feed speed settings for automatic and manual op-
eration modes will be based on the 1s place and the 10s place of the Cn-18 setting, respectively.
So, these feed speed settings will be independently selected.
However, only the Cn-18 settings shown in the following table can be specified depending on the
position command method for automatic operation mode.
3 -47
Advanced Use
Cn-27 Position Cn-18 Setting Feed Speed Setting Method

Setting Command
Method in Manual Automatic
Automatic Operation Operation
Operation Mode Mode Mode
0 Station numbers 0j j0 Select from 4 speeds set in parame-

ter through contact input.
2j j2 Set in SPD command.
1 Digital switches 0j j0 Select from 4 speeds set in parame-

1j j1 Set with digital switch.
3 2 Serial communica-
tions
0j j0 Select from 4 speeds set in parame-
1j j1 Set with digital switch.
4j j4 Select from speed table through

contact input.
4 Command table 0j j0 Select from 4 speeds set in parame-

4j j4 Select from speed table through

contact input.
Example: The following settings would be made for digital switch method (Cn-27 is set to1),
where the feed speed in automatic operation mode would be set in the SPD command
and the speed data in manual mode would be “Select from 4 speeds set in the parameter
through contact input”:
Bit 5 of Cn-32 = 1, bit 6 of Cn-32 = 1, and Cn-18 = 02.

Refer to 3.1.6 Setting the Acceleration/Deceleration Type and Rate for details on acceleration/de-
celeration types and speeds.
3 -48
3.4 Automatic Mode: Station Numbers
This section explains how to operate the motor in automatic mode using station numbers (parame-
ter Cn-27 set to 0).
The station number method is applicable to rotating machines. Stations are set at regular intervals
at each machine rotation and positioning is performed to each station.
Set the following memory switch bit to use this method for rotating machines.
Cn-26 Bit 2 Linear/Rotating Mode Selection Factory Setting: 0
Setting Meaning
0 Linear (position data range: −99999999 to +99999999) 3

1 Rotating (position data range: 0 to Cn-23 setting − 1)
Linear mode is applicable to machinery that moves in a linear direction, such as ball-screw driven
machinery, conveyor belts, and roll feeders.
Rotating mode is applicable to machinery that return to the zero point after one rotation, such as
disc tables and rotating ATCs.
Set the number of stations per rotation in the following parameter.
Cn-28 Number of Stations Setting Range: Factory Setting: 1

1 to 4096
Note: If position data codes are set in BCD (bit 4 of Cn-26 is set to 1), the setting range for Cn-28
will be 1 to 1000.
Station numbers are allocated to each station. The zero point of the machine is station 0. The zero
point of the machine is the preset zero point for absolute encoders or the position when zero point
return operation is complete for incremental encoders. The station number is increased in the direc-
tion of forward rotation, e.g., station 1, station 2, to station (Cn-28 setting − 1).
Set the following memory switch bit to start station numbers from 1.
Cn-33 Bit 3 Station Number 0 Factory Setting: 0
Setting Meaning
0 Includes station 0 (0, 1, . . . , Cn-28 setting −1)
1 Does not include station 0 (1, 2, . . . , Cn-28 setting)
Wiring examples for 1CN and 6CN using the station number method are shown in the following
diagram.
3 -49
Advanced Use
SERVOPACK
SGDB-jjAM
6CN 1CN
0V1 STP
0V 1 32 0V
/AUT-LT /SVON
+24 V 2 28 +24 V
/MAN-LT P-OT
3 30
/POS1 N-OT
4 31
/POS2 /P-CON
5 29
/AL0 /P-CL
6 33
/AL1 /N-CL
7 34
/AL2 +24 V
8 35
/AL3
9
/BK+
16 +24 V
0V2 /BK−
0V 26 17 0V
/ERR /TGON+
+24 V 27 18
/P0 /TGON−
28 19
/P1 /S-RDY+
29 20
/P2 /S-RDY−
30 21
3
/P3 ALM+
31 22
/P4 ALM−
32 23
/ZRN
13 PULS
/MAN 3
14 /PULS P Manual pulse
0V /PULS 4 generator or external
15 SIGN pulse generator (CC
+24 V 6
/SIGN P and /CC are not
7 connected if a
CC manual pulse
/MCW 10
16 /CC P generator is used).
/MCCW 9
17
/RST
18
/SP2ND PAO
19 24
/SP3RD /PAO P
20 25
/LPG PBO
21 26
/AST /PBO P Motor pulse
22 27 generator division
/ALMRST PCO output
23 14
STOP /PCO P
24 15
+24V1 SG
25 5
TRQ-M
11
/CD0 VTG-M
0V 33 12 Analog monitor
/CD1 SG
+24 V 34 2
/CD2
35
/CD3 Connector FG
36 case
Frame ground for 1CN
/CD4 shield
37
/CD5
38 3CN
/CD6 TXD 1
39 1
/CD7 /TXD P 2 External position
40 2 indicator or other
/CD8 RXD
41 3 serial interface
/CD9 /RXD P device (the numbers
42 4
shown here are the
/CD10 /RXD
43 6 connector terminal
/CD11 RT ←Terminal treatment numbers on the
44 7
3,4 external position
/DR0 0V
45 9 indicator).
/DR1 Connector FG
46
/PS0 case
47 RXD, /RXD, and FG are not
/PS1
48
connected to the external position
7CN
+24V2 BAT indicator. Also, terminal treatment is
49 1 not required. However, it is necessary
Frame ground for 6CN shield FG Connector BAT0 to shield FG, ground the indicator
2
case itself, and provide power source.
3 -50
I/O signals for the station number method are shown below. Refer to 3.2 Signals Common to All
Modes for details on signals not listed here.
3.4.1 Position Command Input Signals

These signals are contact data input signals that designate positioning station numbers.
→ Input /CD0 6CN-33 Station Number Command Data

3
Binary or BCD can be selected for the position data code. Set position data code in the follow-
ing memory switch bit.
Cn-26 Bit 4 Position Data Code Factory Setting: 0
Setting Meaning
0 Binary
1 BCD (binary coded decimal)
Station number command data codes for each contact are shown in the following table.
Cn-26 Data Code /CD0 /CD1 /CD2 /CD3 /CD4 /CD5 /CD6 /CD7 /CD8 /CD9 /CD10 /CD11
Bit 4
0 Binary 1 2 4 8 16 32 64 128 256 512 1024 2048

(0 to 4095)
1 BCD 1 2 4 8 10 20 40 80 100 200 400 800

(0 to 999)
3 -51
Advanced Use
3.4.2 Rotating Direction Select Input
The command value will be the sum of the closed signal codes (low level) from CD0 to CD11.
Example: When CD0, CD5, and CD10 are closed:

The command value = 1 + 32 + 1024 = 1057 for binary data code.
The command value =1 + 20 + 400 = 421 for BCD data code.
Set the following memory switch bit to select absolute or incremental position command
mode.
Cn-26 Bit 3 Position Command Mode Factory Setting: 0
Setting Meaning
0 Absolute
3 1 Incremental
In absolute position command mode, the specified station number will be the positioning com-
mand. In incremental position command mode, the station number for the positioning com-
mand will be the station number where the machine is currently stopped ± command value.
The diagram below shows the machine movement after the operation start signal AST is input
if the rotating direction select signal /DR0 is closed (low level), /DR1 is open (high level), the
machine is currently stopped at station number 5, and the value for command data /CD0 to /
CD11 is 3.
Absolute mode Moves to station number 3 1

(← − − −) 8
2
3 7
Incremental mode Moves to station number 8
(← )
4 6
5
Note: If the data code is in BCD, values for /CD0 to /CD3, /CD4 to /CD7, and /CD8 to /CD11
cannot exceed 9, 90, or 900 respectively. Otherwise, a position error will occur.
3.4.2 Rotating Direction Select Input
Select the rotating direction in automatic operation mode for the station number method.
→ Input /DR0 6CN-45 Rotating Direction Selection
→ Input /DR1 6CN-46 Rotating Direction Selection
3 -52
Combinations of these two signals give the following rotation directions in automatic opera-
tion mode.
Signal /DR0 Open Closed Open Closed

(High Level) (Low Level) (High Level) (Low Level)
/DR1 Open Open Closed Closed

Cn-26 Bit 3 (High Level) (High Level) (Low Level) (Low Level)
0 Absolute mode Shortcut rotation Direction towards Direction towards Position error gener-
direction greater station smaller station ated for this setting.
number number
Example: Example:
0 0
1 1 N−1
N−1
2 2
1 Incremental Position error gener-
mode ated for this setting. 3 X
3 X
3
3.4.3 Current Station Number Output and Station Number Read

Selection Input
The current motor position can be output as a station number.
→ Input /PS0 6CN-47 Station Number Read Selection
→ Input /PS1 6CN-48 Station Number Read Selection
→ Input /P0 6CN-28 Current Position Data Output
The current motor position by station number is read using current position data output signals
/P0 to /P4. As /P0 to /P4 have only 5 bits, switch the digit by using station number read selection
signals /PS0 and /PS1 and read the station numbers in order. The following table shows the
different codes for output signals /P0 to /P4 change depending on the combinations of open
and closed settings for /PS0 and /PS1. The sum of the codes for signals /P0 to /P4 that are closed
(low level) will be the station number of the current motor position.
3 -53
Advanced Use
3.4.3 Current Station Number Output and Station Number Read Selection Input
Input Signal /PS0 Open Closed Open Closed

Output Signal /PS1 Open Open Closed Closed
(High Level) (High Level) (Low Level) (Low Level)
Binary /P0 1 1 16 256

Cn-26 Bit 4 = 0 /P1 2 2 32 512
/P2 4 4 64 1024
/P3 8 8 128 2048
/P4 16 Odd parity Odd parity Odd parity
BCD /P0 1 1 10 100

Cn-26 Bit 4 = 1 /P1 2 2 20 200
3
/P2 4 4 40 400
/P3 8 8 80 800
Note: 1. When /PS0 and /PS1 are at high level, /P4 becomes a parity bit. For example, in BCD
notation, if the value for /P0 to /P3 is 7 when /PS0 is at low level and /PS1 is at high level,
/P4 will be set at high level so that the total number of signals at low levels is odd (in this
example, 3: /P0 = low, /P1 = low, /P2 = low, and /P3 = high).
/PS0
/PS1
/P0 “1”
/P1 “2”
The number of
/P2 “4” signals at low
level is odd (3).
/P3
/P4
2. When reading current data (station numbers) separately over several times, set the read
timing as follows:
/COIN
4 ms (Max.) (undefined) (undefined)

Station number data (undefined) (stable) (stable) (stable)
(/P0 to /P4)
Selection signals
(/PS0, /PS1) t1 t2 t1
t2 t1
Data read
t1 ≧ 8 ms, t2 ≧ 0 ms
When using the station number method, set the following memory switch bit to output the left-
most digits of the current position station numbers (/P5 to /P8) to 6CN-6, -7, -8, and -9. In this
case, alarm and error code output signals (/AL0 to /AL3) cannot be used.
3 -54
Cn-33 Bit 5 Station Number Output Expansion Factory Setting: 0
Setting Meaning
0 Outputs alarm and error codes (/AL0 to /AL3) to 6CN-6 to 6CN-9.
1 Outputs leftmost digits of current position station numbers (/P5 to /P8) to 6CN-6 to 6CN-9.
The codes for signals /P5 to /P8 are shown in the following table.
Binary /P5 32
Cn-26 Bit 4 = 0 /P6 64
/P7 128
/P8 256
BCD /P5 20 3
Cn-26 Bit 4 = 1 /P6 40
/P7 80
/P8 100
Note: /P5 to /P8 signal codes do not change according to /PS0 and /PS1 signals.
3.4.4 Station Proximity Signal

When using the station number method, set the following memory switch bit to change POS2
(positioning proximity signal) to a station proximity signal.
Cn-33 Bit 5 Station Proximity Signal Factory Setting: 0
Setting Meaning
0 Sets /POS2 (6CN-5) as a positioning proximity signal.
1 Sets /POS2 (6CN-5) as a station proximity signal.
The output range for station proximity signals is set using the following parameter, the same
as for positioning proximity signals.
Cn-2B Positioning Unit: Setting Range: Factory Setting:

Proximity Width Command Unit 0 to 3000 20
The differences between station proximity signals and positioning proximity signals is out-
lined in the following table.
Positioning Proximity Signal
S This signal is closed (at low level) when the current motor position is within the range of command
position ± Cn-2B during automatic operation.
S This signal is always closed (at low level) until automatic operation starts.
S This signal is always closed (at low level) when the motor is OFF (servo OFF).
3 -55
Advanced Use
3.4.6 Inputting Speed Command Data
Station Proximity Signal
S This signal is closed (at low level) when the current motor position is within the range of each sta-
tion position ± Cn-2B.
S This signal is closed (at low level) even when the current position is a station position other than the
specified station position (such as station positions passed during operation).
S This signal is active even when the motor is OFF (servo OFF), for example, when the motor shaft is
moved by an external force.
3.4.5 Manual Operation Mode
If the station number method is specified for position referencing in automatic operation mode,
the motor will perform positioning and then stop at the nearest station position at which it can
3 stop at the specified deceleration rate when the manual operation signal (/MCCW, /MCW) is
open (at high level) during manual operation (fixed-point positioning). The motor may stop
at the station after the nearest station depending on the deceleration rate.
Refer to 3.8 Manual Mode for details.
When using station numbers, the factory setting for the speed command method is to select
from 4 speeds set in parameters through contact inputs. In this speed command method, feed
speeds are specified in the following four parameters and one of these is selected through the
contact inputs.
Cn-1F First Feed Speed Unit: Setting Range: Factory Setting:

×1000 Command 1 to 240000 500
Units/min.
Cn-20 Second Feed Unit: Setting Range: Factory Setting:

Speed ×1000 Command 1 to 240000 100
Units/min.
Cn-21 Third Feed Speed Unit: Setting Range: Factory Setting:

×1000 Command 1 to 240000 200
Units/min.
Cn-22 Forth Feed Speed Unit: Setting Range: Factory Setting:

×1000 Command 1 to 240000 300
Units/min.
This section describes how to wire and use contact input signals /SP2ND and /SP3RD. These
signals are used when selecting one of the four feed speeds outlined on the previous page.
3 -56
Turns ON at 500 Hz 25% duty and

24-V power supply reads the contact.
1kΩ
+24V
+24V1 CN6-25
Photocoupler
8.2 kΩ
Host controller
3.3 kΩ
/SP2ND CN6-19
Photocoupler
8.2 kΩ
3.3 kΩ
/SP3RD CN6-20
3 mA
Photocoupler
3
500 Hz 25% Duty
→ Input /SP2ND 6CN-19 Speed Selection Code Input 1
→ Input /SP3RD 6CN-20 Speed Selection Code Input 2
The relationship between the contact status and the selected feed speed is shown in the follow-
ing table.
/SP2ND /SP3RD Specified Feed Speed
Open (high) Open (high) First Feed Speed (Cn-1F)
Close (low) Open (high) Second Feed Speed (Cn-20)
Open (high) Close (low) Third Feed Speed (Cn-21)
Close (low) Close (low) Forth Feed Speed (Cn-22)
If the speed command is set to select from 4 speeds set in parameters through contact inputs,
the feed speed can be changed while in manual operation mode.
Speed selection (1st speed) (2nd speed) (3rdspeed) (4th speed)
/MCCW (/MCW)
(1st speed)
(3rdspeed)
Speed (2nd speed)
(4th speed)
0 t
3 -57
Advanced Use
Set the following memory switch bit to change the feed speed while in automatic operation
mode.
Cn-32 Bit 2 Speed Command Change during Factory Setting: 0

Automatic Operation
Setting Meaning
0 Does not change the feed speed during automatic operation.
1 Changes the feed speed during automatic operation.
When using the station number method, the feed speed in automatic and manual operation
modes can be set to set using the SPD serial command. Refer to 3.3 Feed Speed Setting in Auto-
matic and Manual Operation Modes for details on how to change the feed speed setting meth-
od.
3
When using the digital switch method, the operation of changing the set value interferes with
the strobe operation and may cause unexpected value inputs. Do not change the command
speed when using digital switches.
3 -58
3.5 Automatic Mode: Digital Switches
This section explains motor operation in automatic mode using digital switches (parameter Cn-27
set to 1.)
Wiring for 1CN and 6CN for the digital switch method is shown on the following page.
3 -59
Advanced Use
SERVOPACK
SGDB-jjAM
6CN 1CN
0V1 STP
0V 1 32 0V
/AUT-LT /SVON
+24 V 2 28 +24 V
/MAN-LT P-OT
3 30
/POS1 N-OT
4 31
/POS2 /P-CON
5 29
/AL0 /P-CL
6 33
/AL1 /N-CL
7 34
/AL2 +24V
8 35
/AL3
9
/BK+
16 +24 V
/ZRN /BK−
13 17 0V
/MAN /TGON+
14 18
0V /PULS /TGON−
15 19
+24 V /S-RDY+
20
/S-RDY−
21
3
/MCW ALM+
16 22
/MCCW ALM−
17 23
/RST
18
/SP2ND
19
/SP3RD
20 PULS
/LPG 3
21 /PULS P Manual pulse
/AST 4 generator or external
22 SIGN pulse generator (CC
/ALMRST 6
23 /SIGN P and /CC are not
STOP 7 connected if a
24 CC manual pulse
+24V1 10
9
PAO
24
0V2 /PAO P
0V 26 25
/ERR PBO
+24 V 27 26
/PBO P
27 Motor pulse
/DSO0 PCO generator division
17 28 14 output
/DSO1 /PCO P
18 29 15
/DSO2 SG
19 30 5
/DS03
20 31
/DSO4 TRQ-M
21 32 11
/DSI10 VTG-M
1 33 12 Analog monitor
/DSI11 SG
2 34 2
/DSI12
3 35
/DSI13 Connector FG
4 36 Frame ground for
case
Digital Switch Unit, /DSI14 1CN shield
5 37
etc. /DSI15
6 38 3CN
/DSI16 TXD 1
7 39 1
/DSI17 /TXD P 2
8 40 2 External position
/DSI20 RXD indicator or other
9 41 3
P serial interface
/DSI21 /RXD
10 42 4 device (the numbers
/DSI22 /RXD shown here are the
11 43 6
/DSI23 RT
←Terminal treatment connector terminal
12 44 7 numbers on the
/DSI24 0V 3,4 external position
13 45 9
/DSI25 FG indicator).
Connector
14 46
case
/DSI26
15 47
/DSI27
16 48 7CN
+24V2 BAT
49 1
FG Connector BAT0
Frame ground for 6CN shield 2
case
3 -60
The I/O signals for the digital switch method are outlined below. Refer to 3.2 Signals Common to
All Modes for details on signals not listed here.
3.5.1 Position Command Input Signals, Speed Command Input

Signals, and Strobe Output Signals
I/O signals for reading target position and feed speed digital switches are outlined in the follow-
ing table.
Target position settings are in command units and feed speed settings are in × 1000 command
units/min. 3
→ Input /DSI10 6CN-33 Digital Switch Position Data
→ Input /DSI20 6CN-41 Digital Switch Speed Data
3 -61
Advanced Use
3.5.1 Position Command Input Signals, Speed Command Input Signals, and Strobe Output Signals
Output → /DSO0 6CN-28 Digital Switch Read Strobe Signal
3 -62
Each signal function is outlined below.
Signal Signal Effective Function

Name Group Logic
/DSI10 Position Closed 1 100 102 104 106 Reads 2 digits (BCD) each of posi-
command (lo )
(low) digit digit digit digit tion and speed commands selected
/DSI11 2 +
pu
input u pu signals
in the data strobe output g
/DSI12 4 − shown below.
/DSI13 8
/DSI14 1 101 103 105 107

digit digit digit digit
/DSI15 2
/DSI16 4
/DSI17 8
/DSI20 Speed Closed 1 100 102 104 3

command (lo )
(low) digit digit digit
/DSI21 input
pu 2
/DSI22 4
/DSI23 8
/DSI24 1 101 103 105

digit digit digit
/DSI25 2
/DSI26 4
/DSI27 8
/DSO0 Strobe output Closed Reads 2 digits each of position
(lo )
((low) and speed
p commands for whichhich
the data strobe signal is closed (at
/DSO1 low level).
/DSO2
/DSO3
/DSO4
Strobe signals turn ON in order (/DSO0, /DSO1, /DSO2, /DSO3, /DSO4, /DSO0, ...) and read
the digit written above the position where each of the signals in the table is closed (at low level).
The factory setting for time width (digital switch read scan time) for one strobe signal to close
(set at low level) is 12 ms.
3 -63
Advanced Use
3.5.1 Position Command Input Signals, Speed Command Input Signals, and Strobe Output Signals
Set the following parameter to change the digital switch read scan time if position and speed
commands are specified using devices (such as PLCs) other than a special Digital Switch Unit.
Cn-38 Digital Switch Unit: ms Setting Range: Factory Setting:

Read Scan Time 12 to 2000 12
The SERVOPACK requires 12 ms to read data. Therefore, the Cn-38 setting must be equal to
or greater than 12 ms plus the time required to send data from the device (such as PLC) that
outputs position and speed commands.
If the scan time has been changed, the SERVOPACK reads digital switch data during the last
12 ms of the scan time.
/DSO 0
/DSO 1
3 /DSO 2
/DSO 3
/DSO 4
/DSI
12 ms
min.
Cn-38
setting
Example:
SERVOPACK DSO
PLC
CPU
CPU CPU
CPU
Data
12 ms 30 ms
Cn-38 setting = 30 ms + 12 ms = 42 ms minimum.
When using the digital switch method, select BCD as the position data code in the following
memory switch bit.
Setting Meaning
0 Binary
3 -64
Note: After changing scan time or position data code settings, output position and speed data
from the host controller and use the serial communications monitor command (MOND,
MONE) or Digital Operator monitor mode (Un-0d, Un-0E) to confirm that the SERVO-
PACK is reading the command data correctly. Be sure to do so before starting operation.
If operation is started while command data is not being read correctly, positioning will be incor-
rect, and the machine may be damaged or injuries may occur.
Refer to 4.4.2 Command Details for details on serial communications monitor commands and
5.1.10 Monitor Mode for details on the Digital Operator monitor mode.
Set the following memory switch bit to select the position command mode (absolute or incre-
mental.)
Setting Meaning 3
0 Absolute
1 Incremental
When absolute position command mode is selected, positioning will be performed at the speci-
fied coordinates. The motor will rotate in the forward direction if the coordinate value of the
current position is smaller than the coordinate value of the command position. The motor will
rotate in the reverse direction if the coordinate value of the current position is greater than the
coordinate value of the command position.
When incremental position command mode is selected, positioning will be performed at the
current position coordinates + specified coordinates. If the command input sign is positive, the
motor will rotate in the forward direction. If it is negative, the motor will rotate in the reverse
direction.
When an incremental position command mode is selected when using digital switches, the
SERVOPACK changes the current position coordinates to 0 at the start of automatic operation.
This function allows the amount of feed to be displayed on the host controller or position indi-
cator during fixed-length feed operation such as roll feed.
Set the following memory switch bit if this function is not required (when position coordinates
are not changed at the start of operation).
Cn-26 Bit 0 Coordinates Setting in Incremental Factory Setting: 0

Position Command Mode Using Digital
Switch Method
Setting Meaning
0 Sets the coordinates of the current position to zero at the start of operation.
1 Does not change the coordinates of the current position.
3 -65
Advanced Use
3.5.2 Speed Command
3.5.2 Speed Command
The factory setting for the speed command method when using digital switches is to set the
speed command using digital switches. Refer to 3.5.1 Position Command Input Signals, Speed
Command Input Signals, and Strobe Output Signals for details on how to set speed commands
using the digital switches.
When using the digital switch method, the feed speed in automatic and manual operation
modes can be set to select the speed from 4 speeds set in parameters through contact inputs or
to set the speed using the SPD serial command. Refer to 3.3 Feed Speed Setting in Automatic
and Manual Operation Modes for details on how to change the feed speed setting method.
3 -66
3.5.3 Digital Switch Unit
The Yaskawa MCIF-D86 Digital Switch Unit internal connections and wiring for connections
to the SERVOPACK are shown in the following diagram.
Digital Switch Unit SERVOPACK
6CN
21 /DSO4 32
20 /DSO3 31
19 /DSO2 30
18 /DSO1 29
17 /DSO0 28
107 106 10 5 104 10 3 10 2 10 1 100
1
2
/DSI10
/DSI11
33
34
3
3 /DSI12 35
4 /DSI13 36
5 /DSI14 37
6 /DSI15 38
7 /DSI16 39
8 /DSI17 40
(Position command data)
105 10 4 10 3 10 2 10 1 100
9 /DSI20 41
10 /DSI21 42
11 /DSI22 43
12 /DSI23 44
13 /DSI24 45
14 /DSI25 46
15 /DSI26 47
16 /DSI27 48
(Feed speed command data)
3 -67
Advanced Use
3.5.4 Contact Input Unit
If only the speed command is to be input from the Digital Switch Unit, however, connect a
one-step Digital Switch Unit to the SERVOPACK as shown in the following diagram. In this
connection method, sign digit in the Digital Switch Unit will be ignored.
Digital Switch Unit SERVOPACK
6CN
17 /DSO0 28
18 /DSO1 29
19 /DSO2 30
20 /DSO3 31
21 /DSO4 32
1 /DSI10 33
2 /DSI11 34
3 /DSI12 35
3 4 /DSI13 36
5 /DSI14 37
6 /DSI15 38
7 /DSI16 39
8 /DSI17 40
Refer to 6.6.17 Digital Switch Unit (MCIF-Djj) for details on the Digital Switch Unit.
3.5.4 Contact Input Unit
An MCIF-R86 Contact Input Unit is required if Digital Switch Units other than the special Dig-
ital Switch Unit (MCIF-D86) are used or all digit numerals are output at independent contacts
without using strobe signals from PLC or some other device.
Command Input and Contact Input Unit wiring to the SERVOPACK is shown in the following
diagram.
3 -68
1
1 1CN SERVOPACK
2
2
4
10 0 3
8
4
5
6
7
/DSO 0
10 1 8 3CN 17 28 6CN
/DSO 1
9 18 29
/DSO 2
10 19 30
20 /DSO 3 31
11
21 /DSO 4 32
12
10 2 13
/DSI10
14 1 33
2 /DSI11 34
15
/DSI12
16 3 35
4 /DSI13 36
17
5 /DSI14 37
10 3 18
/DSI15
19 6 38
7 /DSI16 39
20
8 /DSI17 40
21
22
/DSI20
Position data 10 4 23 9
/DSI21
41
3
24 10 42
/DSI22
25 11 43
12 /DSI23 44
26
13 /DSI24 45
27
/DSI25
10 5 28 14 46
/DSI26
29 15 47
/DSI27
30 16 48
31
32
10 6 33
34
35
36
37
10 7 38
39 MCIF-R86
40
41
+/− ∗
45
1 2CN MCIF-R86 Connectors and Terminals

2
Connectors
10 0 3 and Terminals 0-V Line 24-V Line Unused Pins
4
5, 10, 15, 20, 25, 30,
5 1CN 47 46, 48
35, 40, 45, 49, 50
6
5, 10, 15, 20, 25, 30,
7 2CN 32 31, 33
34
10 1 8
9 3CN − − 22, 23, 24, 25
10 −
1TB N terminal P terminal
11
12
10 2 13
14
Speed data 15
16 1TB
17 P +24V
10 3 18
19 N 0 ( 24V )
20
21
22
10 4 23
24
25
26
27
10 5 28
29
30 * + when ON.
Refer to 6.6.18 Contact Input Unit (MCIF-R86) for details on the Contact Input Unit.
3 -69
Advanced Use
3.6 Automatic Mode: Serial Communications
This section explains how to operate the motor using serial communications (parameter Cn-27 set
to 2) in automatic operation mode.
Refer to Chapter 4 Using Serial Communications for details on serial communications specifica-
tions and wiring.
Note: This section also explains operation using serial communications in other modes.
3 -70
1CN, 3CN, and 6CN wiring for the serial communications method is shown in the following dia-
gram.
SGDB-jjAM SERVOPACK
3CN 1CN
TXD STP
1 32 0V
P /TXD P-OT
2 30 +24 V
RXD N-OT
3 31
Controller for serial P +24 V
/RXD
communications 4 35
(RS-422) /RXD
6
RT
7
0V
9
FG Connector case
/BK+
16 +24 V
/BK−
3CN 17 0V
ALM+
1 22
SGDB-jjAM P ALM−
(Nth axis)
2
3
P
23
3
4
6
←Terminal treatment
7
9
Connector case
PULS
Terminal treatment 3 Manual pulse
P
(termination) for the final axis 4
/PULS generator or external
is recommended when SIGN pulse generator (CC
multiple axes are used (short 6 and /CC are not
/SIGN P
between 3CN-6 and 7). 7
connected if a
CC manual pulse
10 generator is used).
/CC P
9
PAO
24
/PAO P
25
PBO
26
/PBO P Motor pulse
27
PCO
generator division
14 output
/PCO P
15
SG
5
TRQ-M
11
VTG-M
12 Analog monitor
SG
2
FG
Connector case Frame ground for 1CN shield
7CN
BAT
1
BAT0
2
3 -71
Advanced Use
3.6.1 Serial Commands
This section explains the commands related to motor operation only. Refer to Chapter 4 Using
Serial Communications for information on other commands.
The commands for motor operation are listed below.
List of Commands for Motor Operation

Note: The commands for normal mode are shown above the dotted lines and the commands for
fixed-length mode are shown below the dotted line. A checksum must be added after a
command in fixed-length mode. Refer to 4.3 Using Fixed Length Mode for details on
fixed-length mode and 4.1.3 Baud Rate and Command Length Mode Settings for details
on normal and fixed-length modes.
Command Meaning
3 Top line: Normal

Bottom line: Fixed length
Operation SVON Turns ON the motor.

Commands
SON
SVOFF Turns OFF the motor.
SOF
PON Turns ON pulse operation mode.
PON
POFF Turns OFF pulse operation mode.
POF
PCON Sets speed loop to proportional (P) control.
PCN
PCOFF Sets speed loop to proportional/integral (PI) control.
PCF
ZEROSET (±) nnnnnnnn Sets the machine zero point so that the current posi-
tion will be (±) nnnnnnnn
nnnnnnnn.
ZST (±) nnnnnnnn
SET (±) nnnnnnnn Sets the work zero point shifted from the machine
zero point so that the current position will be (±)
SET (±) nnnnnnnn nnnnnnnn.
3 -72
Command Meaning
Top line: Normal
Move SPDnnnnnn Sets speed command value.

Commands
SPDnnnnnn
MOV(±)nnnnnnnn Sets absolute position command value.
MOV(±)nnnnnnnn
MOVI(±)nnnnnnnn Sets incremental position command value.
MVI(±)nnnnnnnn
ST Starts automatic operation.
STR
3
POS(±)nnnnnnnn Moves to an absolute position of ± nnnnnnnn to per-
form positioning at linear acceleration/deceleration
POS(±)nnnnnnnn rate.
POSI(±)nnnnnnnn Moves to an incremental position at ± nnnnnnnn to

perform positioning at linear acceleration/decelera-
POI(±)nnnnnnnn tion rate.
EXP(±)nnnnnnnn Rotates in the forward direction to perform position-

ing at command point ± nnnnnnnn (external position-
EXP(±)nnnnnnnn ing).
EXN(±)nnnnnnnn Rotates in the reverse direction to perform position-

ing at command point ± nnnnnnnn (external position-
EXN(±)nnnnnnnn ing).
JOGP Starts manual operation in forward direction.
JGP
JOGN Starts manual operation in reverse direction.
JGN
JOG(±)nnnnnn Starts operation at a constant speed of ± nnnnnn.
JOG(±)nnnnnn
ZRN Starts zero point return operation.
ZRN
SKIP Decelerates to stop.
SKP
HOLD Performs feed hold (holds residual data).
HLD
3 -73
Advanced Use
Communications Errors
Refer to the following table if a communications error occurs after a command is sent. Examine
the cause of the error and resend the command once the error has been cleared.
Yes: ERR OV only for too many digits.

No: No error.
Command ERR PN ERR OV ERR SN

Top line: Normal
Operation SVON No No RST ON, OL sta-

Commands tus
SON
SVOFF No No −
3 SOF
PON No No Motor not turned

ON
ON.
PON
POFF No No Not in pulse

mode
mode.
POF
PCON No No −
PCN
PCOFF No No −
PCF
3 -74

Top line: Normal
Move SPDnnnnnn No Speed limit ex- −

Commands ceeded
SPDnnnnnn
MOV(±)nnnnnnnn No Yes −
MOV(±)nnnnnnnn
MOVI(±)nnnnnnnn No Yes −
MVI(±)nnnnnnnn
ST No No *
STR
3
POS(±)nnnnnnnn No Stored stroke *
limit exceeded
POS(±)nnnnnnnn
POSI(±)nnnnnnnn No Stored stroke *

limit exceeded
POI(±)nnnnnnnn
EXP(±)nnnnnnnn No Yes *
EXP(±)nnnnnnnn
EXN(±)nnnnnnnn No Yes *
EXN(±)nnnnnnnn
JOGP No Speed limit ex- *

ceeded
JGP
JOGN No Speed limit ex- *

ceeded
JGN
JOG(±)nnnnnn No Speed limit ex- *

ceeded
JOG(±)nnnnnn
ZRN No Speed limit ex- *

ceeded
ZRN
SKIP No No −
SKP
3 -75
Advanced Use

Top line: Normal
HOLD No No −
HLD
ZEROSET (±) nnnnnnnn No Yes −
ZST (±) nnnnnnnn
SET (±) nnnnnnnn No Yes −
SET (±) nnnnnnnn
Causes of ERR SN Errors Marked with *
3 Move Motor Not Machine Command Overtrave STOP Speed STP

Command ON Moving Exceeds l Limit in Signal Limit Signal ON
Stored Command Turned Exceeded
Top line:
Normal
Stroke Direction OFF
Bottom line: Limit Turned
Fixed length OFF
ST Yes Yes Yes Yes Yes Yes No
STR
POS Yes Yes No Yes Yes Yes No
POS
POSI Yes Yes No Yes Yes Yes No
POI
EXP Yes Yes Yes Yes Yes Yes Yes
EXP
EXN Yes Yes Yes Yes Yes Yes Yes
EXN
JOGP Yes Yes Yes Yes Yes No No
JGP
JOGN Yes Yes Yes Yes Yes No No
JGN
JOG Yes Yes Yes Yes Yes No No
JOG
3 -76
Advanced Use 3.6 Automatic Mode: Serial Communications
Move Motor Not Machine Command Overtrave STOP Speed STP

Command ON Moving Exceeds l Limit in Signal Limit Signal ON
Stored Command Turned Exceeded
Top line:
Normal
Stroke Direction OFF
Bottom line: Limit Turned
Fixed length OFF
ZRN Yes Yes *1 Yes Yes No *2
ZRN
Yes: Error
No: No error
* 1. When an incremental encoder is used, no error occurs at the first zero point return operation
after the control power supply is turned ON. Errors will occur thereafter.
* 2. Errors will occur in zero point return mode only. No error occurs under other circumstances.
3 -77
Advanced Use
Each command is explained below.

Note: Commands in fixed length mode are indicated in parentheses. A checksum must be added
at the end of a command in fixed length mode. Refer to 4.3 Using Fixed Length Mode. Re-
fer to 4.1.3 Baud Rate and Command Length Mode Settings for details on normal and
fixed-length modes.
1. Commands for Basic Operation
Command Function and Meaning

( ): Fixed length
SVON SVON (SON) turns ON the motor (servo ON).
(SON)
SVOFF (SOF) turns OFF the motor (servo OFF).
SVOFF
These two commands together perform the same operation as the servo ON signal
(SOF)
/S-ON (1CN-28).
In this case, the /S-ON mask bit (bit 0 of Cn-01) need not to be set.
3 SVON (SON) SVOFF (SOF)
Motor status (Motor OFF) (Motor ON) (Motor OFF)
PON Turns ON or OFF pulse operation mode (positioning operation using external pulse
(PON) trains).
POFF Pulse operation mode is entered for PON(PON) and canceled for POFF(POF).
(POF)
These two commands together perform the same operation as the pulse operation
mode setting input /PULS (6CN-15).
PON POFF
Pulse operation mode
Pulse train input

(1CN)
Speed
0 t
Refer to 3.9 Pulse Operation Mode.
PCON Changes the SERVOPACK speed loop control mode between proportional/integral
(PCN) (PI) control and proportional (P) control.
PCOFF Proportional (P) control is switch to for PCON (PCN) and proportional/integral (PI)
(PCF) control is switch to for PCOFF (PCF).
These two commands together perform the same operation as proportional opera-
tion setting input /P-CON (1CN-29).
3 -78
2. Move Commands

( ): Fixed length
SPDnnnnnn The feed speed will change to the first feed speed (parameter Cn-1F) when control
(SPDnnnnnn) power is turned ON or when the RES command is executed. The SPD command
sets this feed speed. The units for nnnnnn are ×1000 command units/min.
nnnnnn = 1 to
240000 Example: For command unit = 0.01 mm and a speed command of 15m/min
15000 mm/min.
= 1500000 command units/min
0.01 mm
= 1500 [× 1000 command units/min]

Therefore, the command would be SPD1500.
When using serial communications, the feed speeds in automatic and manual
modes can be selected from three ways: Selected from 4 speeds set in parameters
through contact inputs, set with digital switches, and selected from speed table 3
through contact inputs. Refer to 3.3 Feed Speed Setting in Automatic and Manual
Operation Modes for details on how to change the feed speed setting method.
Note: The term “specified feed speed” in command explanations means the feed speed set in
this command or in the above feed speed setting. The SPD command is used as an exam-
ple of a feed speed setting method in the command explanations.
3 -79
Advanced Use

( ): Fixed length
MOV±nnnnnnnn The MOV command sets a position command data. The units for ±nnnnnnnn are
(MOV±nnnnnnnn) command units.
nnnnnnnn = 0 to The operation changes depending on the setting of bit 3 of Cn-26 (position com-
99999999 mand mode).
(+ can be omitted) Memory Switch Setting Position Command
Mode
Cn-26 Bit 3 0 Absolute
1 Incremental
Absolute Mode Incremental Mode
3 (Data is an absolute value.)

Speed
(Data is an incremental value.)
Speed
SPDx SPDx
MOVy (Invalid) MOVz MOVy
ST ST ST ST ST ST
(y−a) (z−y) (y) (y) (y)
t t
0 0
a y z Position b b+y b+2y b+3y Position

coordi- coordi-
nates nates
In incremental mode, the motor will rotate forward for +nnnnnnnn command value
and rotate in reverse for −nnnnnnnn. The position command will be 0 when the
control power supply is turned ON or when the RES command is executed.
3 -80

( ): Fixed length
MOVI±nnnnnnnn The MOVI (MVI) command sets an incremental position that is valid when the
(MVI±nnnnnnnn) position command mode is set to absolute mode (when bit 3 of Cn-26 is set to 0).
The data is an incremental value.
nnnnnnnn = 0 to
99999999
Speed
(+ can be omitted)
SPDx
MOVIy (Invalid) MOVIy MOVIz
ST ST ST ST
(y) (y) (z)
0
t
Position
3
C C+y C+2y C+2y+z coordinates
Note: Do not use this command in incremental position command mode (when bit 3 of Cn-26
is set to 1). The SERVOPACK will not operate correctly.
ST The ST (STR) command starts automatic operation after commands have been
(STR) executed to set speed and position data.
This command is ignored during positioning.
Example: SPD n...n . . . . Sets speed data.

1 MOV ± n . . . n . . . . Sets position data.
ST . . . . Starts automatic operation.
2 MOV ± n . . . n Operates at previous

ST speed setting.
3 RES Returns to zero at speed

set in parameter 4.
ST
Note: 1. For multi-axis configurations, specify the axis

when sending the ST command to check op-
eration of a specific axis after changing param-
eters for that axis.
If the RES command is sent to all axes or the ST
command is sent without specifying an axis af-
ter tuning ON control power supply again, all
axes will perform operation of example 3
shown above.
2. If the STOP signal input (6CN-24) remains un-
connected, an ERR SN (command error) will
be generated when a move command is exe-
cuted, even if the ST command is sent.
When not using the STOP signal, set bit 0 of
Cn-33 to 1 to mask the STOP signal.
3 -81
Advanced Use

( ): Fixed length
POS±nnnnnnnn The POS or POSI (POI) command performs positioning in linear acceleration/de-
(POS±nnnnnnnn) celeration mode. The first feed speed (Cn-1F) will be used.
POSI±nnnnnnnn For POS: Performs positioning to an absolute value of ± nnnnnnnn.
(POI±nnnnnnnn)
For POSI: Performs positioning to an incremental value of ± nnnnnnnn from the
nnnnnnnn = 0 to current position.
99999999
Example:
(+ can be omitted) Speed POS1000 POSI500
Incremental value
Absolute value (500)
3 0 t
Position
100 1000 1500
Note: These commands are not affected by the position command mode (bit 3 of Cn-26).
EXP±nnnnnnnn Cn-32 bit F must be set to 1 to use the EXP command. The EXP command starts
(EXP±nnnnnnnn) forward rotation for external positioning operation.
nnnnnnnn = 0 to The EXP command is not valid if Cn-32 bit F is set to 0.
99999999
When this command is received, the motor will start forward rotation at the speed
(+ can be omitted) specified in Cn-2F. When the STP signal goes from low to high, the motor will
move to the position of ±nnnnnnnn command units at the speed specified in Cn-30.
If the sign of the movement amount is negative, the motor will decelerate to a stop
and then move in reverse to the specified position.
±nnnnnnnn command units
EXP COIN
Cn-2F
Speed
Cn-30
STP
3 -82

( ): Fixed length
EXN±nnnnnnnn Cn-32 bit F must be set to 1 to use the EXN command. The EXN command starts
(EXN±nnnnnnnn) reverse rotation for external positioning operation.
nnnnnnnn = 0 to The EXN command is not valid if Cn-32 bit F is set to 0.
99999999
When this command is received, the motor will start reverse rotation at the speed
(+ can be omitted) specified in Cn-2F. When the STP signal goes from low to high, the motor will
move to the position of ±nnnnnnnn command units at the speed specified in Cn-30.
If the sign of the movement amount is positive, the motor will decelerate to a stop
and then move forward to the specified position.
±nnnnnnnn command units
Speed
Cn-30
3
Cn-2F
EXN COIN
STP
JOGP The JOGP (JGP) or JOGN (JGN) command starts constant-speed motor operation
(JGP) at the feed speed specified in CN32 of Cn-18.
JOGN JOGP (JGP) is the forward command. JOGN (JGN) is the reverse command. The
(JGN) SKIP (SKP) command is used to stop the motor.
Speed
SPDx SPDy
JOGP SKIP JOGN SKIP
0 t
Note: When this command is used, there is no need to set manual operation mode.
3 -83
Advanced Use

( ): Fixed length
JOG±nnnnnn The JOG command starts manual operation at a speed of ±nnnnnn. The SKIP
(JOG±nnnnnn) (SKP) command is used to stop the motor.
nnnnnn = 1 to JOGx SKIP
Speed
240000
x JOG−x
(+ can be omitted)
t
0
−x
Note: When this command is used, there is no need to set manual operation mode.
SKIP The SKIP (SKP) command stops operation at the specified deceleration rate (set in
3 (SKP) a parameter.)
SPDx MOVly
JOGP SKIP ST SKIP
Speed (No feed hold)
t
0
Note: This command has no feed hold function.
HOLD 1. If the HOLD command is sent during positioning using the ST command, the
(HLD) motor will stop at the specified deceleration rate but the remaining movement
will be retained (feed hold function).
Note: There is no feed hold function if bit 1 of Cn-33 is set to 1.
SPDx
Speed MOVIy
ST HOLD ST
(y1+y2=y)
(y1) (y2)
0 t
Feed hold
2. There will be no feed hold function if this command is sent during positioning
operation using the POS or POSI (POI) command, external positioning using
the EXP or EXN command, or manual operation using JOGP (JGP), JOGN
(JGN), or JOG ±nnnnnn command. In these cases, it will function in the same as
the SKIP command.
3 -84

( ): Fixed length
ZRN The ZRN command starts one of the the machine zero point return operations
(ZRN) shown below.
Note: When this command is used, there is no need to set the machine zero point return mode.
S Mode I (bit 3 and bit 2 of Cn-29 both set to 0)

Mode 1 uses a 3-step deceleration method using the STP signal (used as a
deceleration limit switch) and phase-C pulse.
Final travel distance

ZRN Cn-2E
Cn-31
Cn-2F COIN
Speed Cn-30
STP
PC 3
S Mode II (bit 3 and bit 2 of Cn-29 set to 0 and 1, respectively)
Mode II uses a 2-step deceleration method using the STP signal (used as a
stop limit switch).
Final travel distance
ZRN Cn-2F Cn-31
Cn-30 COIN
Speed
STP
S Mode III (bit 3 and bit 2 of Cn-29 both set to 1)

Mode III uses a 3-step deceleration method using the STP signal (used as a
deceleration limit switch) and phase-C pulse.
Cn-2E Final travel distance

ZRN Cn-31
Speed Cn-2F COIN
Cn-30
STP
PC
3 -85
Advanced Use
Command Function and meaning
Note: The ZRN command is effective only when bit 0 of Cn-29 is set to 1.
Parameters and memory switch bits for machine zero point return are listed in the
following table.
Number Name Setting Range Unit
Cn-29 Bit 0 Machine zero point 0: Not used

return 1: Used
Cn-29 Bit 2 Machine zero point 0 Mode 1 Mode 1 Mode

return mode I II III
Cn-29 Bit 3 0 0 1
Cn-29 Bit 4 Machine zero point 0: Forward rotation

return direction 1: Reverse rotation
Cn-2E Machine zero point 1 to 240000 ×1000

3 return feed speed command
units/min
units/min.
Cn-2F Machine zero point 1 to 240000
return approach
speed
Cn-30 Machine zero point 1 to 240000

return creep speed
Cn-31 Machine zero point Forward rotation: Command

return final travel 0 to +99999999 unit
distance
Reverse rotation:
−99999999 to 0
Refer to 3.10 Machine Zero Point Return Mode.
ZEROSET± The ZEROSET command sets the machine zero point so that the current position is
nnnnnnnn ±nnnnnnnn.
(ZST±nnnnnnnn)
The setting made by the ZEROSET command is made effective by executing the
RES command or cycling the control power supply.
Note: The current position is the value given by PUN = ±nnnnnnnn sent for the
MONF command.
SET±nnnnnnnn The SET command sets a working zero point so that the current position is
(SST±nnnnnnnn) ±nnnnnnnn. The working zero point is a temporary zero point offset from the ma-
chine zero point.
The setting made by the SET command is effective as soon as the command is
executed..
The zero point set by the SET command will be initialized and the original zero point
will be set again when the CLR command or the RES command is executed or the
control power supply is cycled.
3 -86
3.7 Automatic Mode: Command Table
This section explains how to operate the motor in automatic mode using the command table (pa-
rameter Cn-27 set to 4).
The command table method can be used to write a maximum of 512 positions to a position table
and a maximum of 512 speeds to a speed table to SERVOPACK memory beforehand, and then
perform positioning to table positions specified using contact commands. The feed speed will
normally be the speed set in the speed table with the same number as the position selected in the
position table.
Position and speed table data is set using serial communications or the Digital Operator. Refer
to Chapter 4 Using Serial Communications or Chapter 5 Using the Digital Operator for the set-
ting methods.
3
The following diagram shows 1CN and 6CN wiring for using command tables.
3 -87
Advanced Use
SERVOPACK
SGDB-jjAM
6CN 1CN
0V1 STP
0V 1 32 0V
/AUT-LT /SVON
+24 V 2 28 +24 V
/MAN-LT P-OT
3 30
/POS1 N-OT
4 31
/POS2 /P-CON
5 29
/AL0 /P-CL
6 33
/AL1 /N-CL
7 34
/AL2 +24V
8 35
/AL3
9
/BK+
16 +24 V
0V2 /BK−
0V 26 17 0V
/ERR /TGON+
+24 V 27 18
/P0 /TGON−
28 19
/P1 /S-RDY+
29 20
/P2 /S-RDY−
30 21
3
/P3 ALM+
31 22
/P4 ALM−
32 23
/ZRN
13 PULS
/MAN 3 Manual pulse
14 /PULS P generator or
0V /PULS 4
15 external pulse
SIGN
+24 V 6 generator (CC and
/SIGN P /CC are not
7
connected if a
CC
/MCW 10 manual pulse
/MCCW 9
17
/RST
18
/SP2ND PAO
19 24
/SP3RD /PAO P
20 25
/LPG PBO
21 26
/AST /PBO P
22 27 Motor pulse
/ALMRST PCO generator division
23 14
P output
STOP /PCO
24 15
+24 V1 SG
25 5
TRQ-M
11
/CD0 VTG-M Analog monitor
0V 33 12
/CD1 SG
+24 V 34 2
/CD2
35
/CD3 FG
36 Connector case Frame ground for
/CD4 1CN shield
37
/CD5
38 3CN
/CD6 TXD 1
39 1
/CD7 /TXD P 2
40 2 External position
/CD8 RXD indicator or other
41 3 serial interface
/PS0 /RXD P
47 4 device (the numbers
/PS1 /RXD shown here are the
48 6 connector terminal
RT ←Terminal treatment
7 numbers on the
0V 3, 4 external position
9 indicator).
FG
Connector case
RXD, /RXD, and FG are not
connected to the external position
7CN
+24V2 BAT
indicator. Also, terminal treatment is
49 1 not required. However, it is necessary
FG BAT0 to shield FG, ground the indicator
Frame ground for 6CN shield Connector case 2
itself, and provide power source.
3 -88
The I/O signals used with a command table are outlined below. Refer to 3.2 Signals Common to
All Modes for details on signals not listed here.
3.7.1 Data Number Input Signals
The contact data input signals that specify the data numbers in the position and speed tables
are listed below.
→ Input /CD0 6CN-33 Data Number Command Input

3
Set the position data code to binary using the following memory switch bit.
Setting Meaning
0 Binary
Set this bit to 0 when using the command table. The SERVOPACK will not operate normally
if this bit is set to 1.
The following table shows the command data codes for each contact.
Input Signal /CD0 /CD1 /CD2 /CD3 /CD4 /CD5 /CD6 /CD7 /CD8
Data Code 1 2 4 8 16 32 64 128 256
The number selected in the table will be the sum of the signal codes for the closed contacts (at
low level) from CD0 to CD8.
Example: If CD0, CD5, and CD8 are closed, the number selected in the table = 1 + 32 + 256
= 289.
3 -89
Advanced Use
3.7.2 Zone Signal Outputs
Select the position command mode (absolute or incremental) using the following memory
switch bit.
Setting Meaning
0 Absolute
1 Incremental
In absolute position command mode, positioning will be performed to the position specified
in the table. In incremental position command mode, positioning will be performed to the posi-
tion of the current stop position + position specified in the table.
3 3.7.2 Zone Signal Outputs
A 511-point zone signal boundary position table is written to the SERVOPACK memory and
zone data for the current motor position is output.
Data for the zone signal boundary position table can be set using serial communications or the
Digital Operator. Refer to 4 Using Serial Communications or Chapter 5 Using the Digital Op-
erator for the setting methods.
Set the following memory switch bit to use zone signals.
Cn-33 Bit A Zone Signal Factory Setting: 0
Setting Meaning
0 Does not use zone signal.
1 Uses zone signal.
→ Input /PS0 6CN-47 Zone Signal Read Selection
→ Input /PS1 6CN-48 Zone Signal Read Selection
Output → /P0 6CN-28 Zone Signal Data Output
3 -90
Zone data for the current motor position is read using zone signal data outputs (/P0 to /P4).
Because /P0 to /P4 have only 5 bits, switch the digit by using zone data read selection signals
/PS0 and /PS1 and read the zone data in order. The following table shows the different codes
for output signals /P0 to /P4 depending on the combinations of open and closed settings for /PS0
and /PS1. The sum of the codes for signals /P0 to /P4 that are closed (at low level) will be the
zone data of the current position.
Input Signal /PS0 Open Closed Open Closed

Output Signal
/PS1 Open Open Closed Closed
(High Level) (High Level) (Low Level) (Low Level)
Binary Setting /P0 1 1 16 256

Cn-26 /P1 2 2 32 512
Bit 4 = 0
/P2 4 4 64 1024 3
/P3 8 8 128 2048
BCD Setting /P0 1 1 10 100

Cn-26 /P1 2 2 20 200
Bit 4 = 1
/P2 4 4 40 400
/P3 8 8 80 800
Note: 1. When /PS0 and /PS1 are at high level, /P4 becomes a parity bit. For example, in BCD
notation, if the value for /P0 to /P3 is 7 when /PS0 is at low level and /PS1 is at high level,
/P4 will be set at high level so that the total number of signals at low levels is odd (in this
example, 3: /P0 = low, /P1 = low, /P2 = low, and /P3 = high).
/PS0
/PS1
/P0 “1”
/P1 “2”
The number of
/P2 “4” signals at low
/P3 level is odd (3).
/P4
3 -91
Advanced Use
3.7.2 Zone Signal Outputs
2. When reading zone data separately over several reads, set the read timing as follows:
/COIN
4 ms (Max.) (unstable) (unstable)

Zone data (unstable) (stable) (stable) (stable)
(/P0 to /P4)
Selection signal
(/PS0 and /PS1) t1 t2 t1
t2 t1
Data read
t1 ≧ 8 ms, t2 ≧ 0 ms
When using the command table, set the following memory switch bit to output digits /P5 to
/P8 of the zone signal data outputs to 6CN-6, -7, -8, and -9. In this case, alarm and error code
outputs (/AL0 to /AL3) cannot be used.
3 Cn-33 Bit 5 Station Number Output Expansion Factory Setting: 0
Setting Meaning
0 Outputs alarm and error codes (/AL0 to /AL3) to 6CN-6 to 6CN-9.
1 Outputs digits /P5 to /P8 of current position station numbers to 6CN-6 to 6CN-9.
The codes for signals /P5 to /P8 are shown in the following table.
Binary Setting /P5 32

Cn-26 Bit 4 = 0 /P6 64
/P7 128
/P8 256
BCD Setting /P5 20

Cn-26 Bit 4 = 1 /P6 40
/P7 80
/P8 100
Note: 1. /P5 to /P8 signal codes do not change according to /PS0 and /PS1 signals.
3 -92
2. Zone signals are output as codes as shown in the following diagram when /PS0 and /PS1
are at low level. Unless the motor is stopped, data may not be read correctly due to code
output.
/P0
/P1
/P2
/P3
/P4
− +
BT01 BT02 BT03 BT04 BT27 BT28 BT29 BT30 BT31

Motor position
3. Up to 40 ms is required from when the motor position boundary is passed until the zone
signal is changed. 3
4. The zone signal boundary positions in the table must be arranged as shown in the above
diagram. Even if there are less than 511 boundary positions to be set, be sure to arrange
the boundary positions in order from BT01 to BT511. BTn setting value ≦ BTn+1.
Example: When using only BT01 to BT20, set BT21 = BT22 = . . . = BT511 = +99999999.
3.7.3 Speed Command Input
When using the command table method, the factory setting for the speed command method
is to select from the speed table through contact inputs. In this method, a table containing up
to 512 pairs of positions and speeds will be set, and the motor will be operated using the position
command from the position table location selected by table command data /CD0 to /CD8 as
well as the speed command from the speed at the location selected in the table.
Speed table data is set using serial communications or the Digital Operator. Refer to Chapter
4 Using Serial Communications or Chapter 5 Using the Digital Operator for the setting meth-
ods.
When using the command table method, the feed speed in automatic and manual operation
modes can be set to be selected from 4 speeds set in parameters thorough contact inputs or to
be set in the SPD serial command. Refer to 3.3 Feed Speed Setting in Automatic and Manual
Operation Modes for details on how to change the feed speed setting method.
3 -93
Advanced Use
3.8 Manual Mode
This section explains motor operation in manual operation mode using I/O signals.
In manual operation mode, the motor is operated at the specified speed only while manual opera-
tion signals /MCCW or /MCW are active.
To select manual operation mode, activate the manual operation mode selection input signal
/MAN. Refer to 3.2.4 Operation Mode Selection.
Start and stop manual operation mode using the following input signals.
→ Input /MCCW 6CN-13 Manual Forward Rotation Command
3 → Input /MCW 6CN-14 Manual Reverse Rotation Command
The factory-set feed speed setting method for manual operation differs according to the position
command method in automatic mode (set at parameter Cn-27) as shown in the following table. Re-
fer to information on the individual operating methods for automatic mode for details on feed speed
setting methods.
Cn-27 Position Command Method in Feed Speed Setting Method

Setting Automatic Mode
0 Station numbers Select from 4 speeds set in parameter through con-

tact input.
1 Digital switches Set with digital switches.
2 Serial communications Set in SPD serial command.
4 Command table Select from speed table through contact input.
Refer to 3.3 Feed Speed Setting in Automatic and Manual Operation Modes for details on how to
change the feed speed setting method in manual operation mode.
Refer to 3.1.6 Setting the Acceleration/Deceleration Type and Rate for details on acceleration/de-
celeration types and speeds in manual operation mode.
3 -94
3.9 Pulse Operation Mode
This section explains motor operation in pulse operation mode.
In pulse operation mode, the motor is operated in accordance with input command pulses.
Activate the pulse operation mode selection input signal /PULS to select the pulse operation mode.
Refer to 3.2.4 Operation Mode Selection.
Note: Pulse operation mode and line pulse generators cannot be used at the same time.
J Commands Using Pulse Inputs

Move commands can be given using pulse inputs.
Only line driver output can be wired.

3
SGDB SERVOPACK
Photocoupler
PULS 1CN-3
Command pulse input /PULS 1CN-4
SIGN 1CN-6
Command sign input /SIGN 1CN-7
:P: Indicates twisted-pair cables.
Wiring Example
Applicable Line Driver:
SN75174 or MC3487 manufactured by TI or equivalent
Host controller SGDB SERVOPACK
Line driver PULS 1CN-3 Photocoupler
/PULS 1CN-4
SIGN 1CN-6
/SIGN 1CN-7
3 -95
Advanced Use
J Command Pulse Form Selection

Select the command pulse form using the following memory switch.
→ Input PULS 1CN-3 Command Pulse Input
→ Input /PULS 1CN-4 Command Pulse Input
→ Input SIGN 1CN-6 Command Sign Input
→ Input /SIGN 1CN-7 Command Sign Input
The motor only rotates at an angle proportional to the input pulse.
Cn-02 Bit 3 Command Pulse Form Selection Factory Setting: 0
3 Cn-02 Bit 4 Command Pulse Form Selection Factory Setting: 0
Cn-02 Bit 5 Command Pulse Form Selection Factory Setting: 0
Set the command pulse form for externally input command pulses.
Set in accordance with host controller specifications.
The input pulse logic can be set in bit D of Cn-02 and this should be set at the same time.
Note: 1. One pulse command input is equivalent to motor travel distance of one command unit.
Refer to 3.1.5 Electronic Gear for information on command units. (P pulses → P com-
mand units)
2. The feed speed is specified as pulse frequency. (f (pps) → f × 60 command units/min)
3. In pulse operation mode, speed selection signals /SP2ND (6CN-19) and /SP3RD
(6CN-20) are used to set the input pulse multiplication.
SP2ND SP3RD Pulse Multiplication
Open (high) Open (high) ×1
Closed (low) Open (high) × 10
Open (high) Closed (low) × 100
Closed (low) Closed (low) ×1
3 -96
Cn-02 Input Pulse Command Motor Forward Run Motor Reverse Run
Multiplica- Pulse Form Command Command
Bit D Bit 5 Bit 4 Bit 3 tion
0 0 0 0 − Sign + pulse
PULS PULS
(Positive train (1CN-3) (1CN-3)
logic setting) SIGN SIGN
(1CN-6) (1CN-6)
0 1 0 ×1 Two-phase
PULS
pulse train PULS
(1CN-3) (1CN-3)
0 1 1 ×2 with 90_ SIGN
SIGN
phase (1CN 6)
(1CN-6) (1CN-6)
1 0 0 ×4 difference
0 0 1 − CW pulse + PULS PULS

CCW pulse (1CN-3) (1CN-3)
SIGN SIGN
(1CN-6) (1CN-6)
3
1 0 0 0 − Sign + pulse PULS
PULS
(Negative train (1CN-3) (1CN-3)
logic setting) SIGN SIGN

(1CN-6) (1CN-6)
0 1 0 ×1 Two-phase
PULS PULS
pulse trains (1CN-3) (1CN-3)
0 1 1 ×2 with 90_ SIGN SIGN
phase (1CN-6) (1CN-6)
1 0 0 ×4 difference
0 0 1 − CW pulse + PULS PULS

CCW pulse (1CN-3) (1CN-3)
SIGN SIGN
(1CN-6) (1CN-6)
Input Pulse Multiply Function

When the command pulse form is two-phase pulse
train with 90° phase difference, the input pulse mul- Number of
×4
motor move
tiply function can be used. pulses
×2
×1
Input command pulse
(1CN-3)
(1CN-6)
3 -97
Advanced Use
Servo ON
Release
t1 ≦ 30 ms
Base block t2 ≦ 10 ms
(When parameter
1CN-6 Cn-12 is set to 0)
Sign + pulse t3 ≧ 30 ms
train 1CN-3
t4, t5 ≦ 4 ms
PG pulse
t5
/POS1
Note: The interval from the time the servo ON signal is turned ON until a command pulse is input
must be at least 30 ms. Otherwise, the command pulse may not be input.
Figure 3.1 Example of I/O Signal Generation Timing
3 Table 3.1 Allowable Voltage Level and Timing for Command Pulse Input
Command Pulse Electrical Specifications Remarks

Signal Form
Sign + pulse train input The signs for each com-

(SIGN + PULS signal) mand pulse are as follows:
¨: High level
Maximum command
©: Low level
frequency: 450 kpps
¨ command © command
Two-phase pulse train with Phase A Parameter Cn-02 (bits 3, 4

Phase B
90° phase difference and 5) is used to switch the
(phase A + phase B) input pulse multiplier
mode.
Maximum command
frequency
× 1 multiplier: 450 kpps Phase B is 90°
Phase B is 90°
× 2 multiplier: 400 kpps forward from phase A. behind phase A.
× 4 multiplier: 200 kpps
CCW pulse + CW pulse −

CCW pulse
Maximum command CW pulse
frequency: 450 kpps
¨ command © command
3 -98
3.10 Machine Zero Point Return Mode
This section explains how to operate the motor in machine zero point return mode.
In machine zero point return mode, positioning is performed using the machine zero point return
limit switch to determine the machine zero point of the machine. This mode is mainly used immedi-
ately after the power is turned ON when using an incremental encoder.
To select machine zero point return mode, activate the machine zero point return mode selection
signal /ZRN. Refer to 3.2.4 Operation Mode Selection.
Set the following parameters to use machine zero point return mode.
Cn-29 Bit 0 Machine Zero Point Return Mode Factory Setting: 0
Setting Meaning 3
0 Do not use machine zero point return mode.
1 Use machine zero point return mode.

Selection

Selection
Setting Meaning
Bit 3 Bit 2
0 0 Mode I
0 1 Mode II
1 1 Mode III
Cn-29 Bit 4 Machine Zero Point Return Direction Factory Setting: 0
Setting Meaning
0 Forward
1 Reverse
Cn-2E Machine Zero Unit: Setting Range: Factory Setting:

Point Return Feed ×1000 Command 1 to 240000 200
Speed Units/min
Cn-2F Machine Zero Unit: Setting Range: Factory Setting:

Point Return ×1000 Command 1 to 240000 100
Approach Speed Units/min
3 -99
Advanced Use
3.10.1 Machine Zero Point Return Mode I (Bits 2 and 3 of Cn-29 Set to 0)
Cn-30 Machine Zero Unit: Setting Range: Factory Setting:

Point Return ×1000 Command 1 to 240000 50
Creep Speed Units/min
Cn-31 Machine Zero Unit: Setting Range: Factory Setting:

Point Return Final Command Units −99999999 to 8192
Travel Distance +99999999
3.10.1 Machine Zero Point Return Mode I (Bits 2 and 3 of Cn-29 Set to 0)
Machine Zero point return mode I is a 3-step deceleration method using the STP signal (as a
deceleration limit switch) and phase-C pulse. When the STP signal status changes from closed
(low level) to open (high level), the load will decelerate from the machine zero point return
feed speed (set in Cn-2E) to the machine zero point return approach speed (set in Cn-2F). The
3 load will then pass the machine zero point limit switch and once the STP signal changes from
open (high level) to closed (low level), and the load will reach the machine zero point return
creep speed (set in Cn-30) at the initial phase-C pulse. The load will then move the machine
zero point return final travel distance from the point of the phase-C pulse, and stop.
/ZRN
/AST
/POS1
C-2E
Cn-2F
Speed Cn-30
Final travel distance Cn-31

STP
PC
If the STP signal is open (high level) when the machine zero point return operation is started,
the machine zero point return will be started at the machine zero point return approach speed
(Cn-2F).
/ZRN
/AST
/POS1
Cn-2F
Speed Cn-30

STP
PC
3 -100
3.10.2 Machine Zero Point Return Mode II (Bits 2 and 3 of Cn-29 Set to 1
and 0 Respectively)
Machine zero point return mode II is a 2-step deceleration method that uses the STP signal as
a stop limit switch. When the STP signal changes from closed (low level) to open (high level),
the load travel speed will change from the machine zero point return approach speed (set in
Cn-2F) to the machine zero point return creep speed (set in Cn-30). The load will travel the
machine zero point return final travel distance (set in Cn-31) and stop.
If the STP signal is open (high level) at the start of the machine zero point return operation a
position error will occur.
/ZRN
/AST
/POS1
3
Cn-2F
Speed Cn-30
STP
3.10.3 Machine Zero Point Return Mode III (Bits 2 and 3 of Cn-29 Set to 1)
Machine zero point return mode III is a 3-step deceleration method that uses the STP signal
as a deceleration limit switch and phase-C pulse.
If the STP signal is open (at high level) at the start of the machine zero point return operation,
the load will decelerate from the machine zero point return feed speed (set in Cn-2E) to the
machine zero point return approach speed (set in Cn-2F). When the STP signal changes from
open (at high level) to closed (low level), the load will decelerate to the machine zero point
return creep speed (set in Cn-30) at the initial phase-C pulse, and move the machine zero point
return final travel distance (set in Cn-31) from the point of the phase-C pulse, and stop.
/ZRN
/AST
/POS1
Cn-2E
Cn-2F
Speed Cn-30

STP
PC
When the STP signal is closed (at low level) at the start of the machine zero point return opera-
tion, the motor will rotate in the opposite direction to the machine zero point return direction
(set in bit 4 of Cn-29) at machine zero point return feed speed (set in Cn-2E). When the STP
signal is open (at high level), the motor will decelerate to a stop, and restart rotation in the ma-
3 -101
Advanced Use
3.10.3 Machine Zero Point Return Mode III (Bits 2 and 3 of Cn-29 Set to 1)
chine zero point return direction at the machine zero point return feed speed (set in Cn-2E).
When the signal changes from open (high level) to closed (low level), the load will decelerate
to the machine zero point return approach speed (set in Cn-2F), reach the machine zero point
return creep speed (set in Cn-30) at the initial phase-C pulse, move the machine zero point re-
turn final travel distance from the point of the phase-C pulse (Cn-31), and stop.
/ZRN
/AST
/POS1
Cn-2E
Cn-2F
Cn-30
Speed
Cn-2E
3 STP
PC
Note: The above diagram shows an example for the following settings:
• Bits B and C of Cn-33 set to 0 (AST signal logic)

• Bit 4 of Cn-29 set to 0 (direction of machine zero point return)
• Parameter Cn-29 ≧ 0 (machine zero point return final travel distance)
3 -102
3.11 Encoder Outputs
Encoder output signals divided inside the SERVOPACK can be output externally. These signals
can be used to form a position control loop in the host controller.
This output is
explained here.
Host
SGDB SERVOPACK controller
SGMj Servomotor
encoder
Phase A Phase A
Phase B Frequency Phase B
dividing
Phase C Phase C
circuit
3
The output circuit is for line driver output. Connect each signal line according to the following cir-
cuit diagram.
SGDB SERVOPACK Host controller

Line receiver
1CN-24 PAO
Phase A Phase A
1CN-25 /PAO
1CN-26 PBO
Phase B Phase B
1CN-27 /PBO
1CN-14 PCO
Phase C Phase C
1CN-15 /PCO
Choke coil
1CN-5
Connector Smoothing
case capacitor
↕P: Represents twisted-pair cables Line receiver used: SN75175 manufactured by Texas
Instruments Inc. or MC3486 (or
equivalent)
R (termination resistor): 220 to 470 Ω
C (decoupling capacitor): 0.1 μF
TERMS z Divided (or dividing)
“Dividing” means converting an input pulse train from the encoder mounted on the motor according to the preset
pulse density and outputting the converted pulse. The unit is pulses per revolution.
3 -103
Advanced Use
J Output Signals
Output signals are described below.
Output → PAO 1CN-24 Encoder Output Phase-A
Output → /PAO 1CN-25 Encoder Output Phase-A
Output → PBO 1CN-26 Encoder Output Phase-B
Output → /PBO 1CN-27 Encoder Output Phase-B
Output → PCO 1CN-14 Encoder Output Phase-C
Output → /PCO 1CN-15 Encoder Output Phase-C
3 Output → SG 1CN-5 Signal Ground
Output → FG Connector Case Frame Ground
SG: Connect to 0 V of the host controller.

FG: Connect to the shielded wire of the cable.
Divided encoder signals are output.
Output Phase Form

• Incremental Encoder
Forward rotation Reverse rotation

Phase A Phase A
Phase B Phase B
Phase C Phase C
• Absolute Encoder
Phase A Phase A
Phase B Phase B
Phase C Phase C
J Setting the Pulse Dividing Ratio

Set the pulse dividing ratio in the following parameter.
Cn-0A PG Unit: Setting Range: Factory Setting:

Dividing Ratio Setting P/R 16 to 32768 8192
3 -104
Sets the number of output pulses for PG output signals (PAO, /PAO, PBO and /PBO).
Pulses from motor encoder (PG) are divided by the preset number of pulses before being out-
put.
Output terminals:
PAO (1CN-24)
SGDB SERVOPACK /PAO (1CN-25)
SGMj Servomotor PBO (1CN-26)
encoder /PBO (1CN-27)
Phase A Frequency Phase A
dividing
Phase B Output
Phase B
The number of output pulses per revolution is set in this parameter. Set this value according
to the command unit of the machine or controller to be used.
The setting range varies according to the encoder used.
Preset value: 16 3
Setting Example:
1 revolution
Motor Number of Encoder Pulses per Revolution Setting Range

Encoder
Specifications
2 Incremental encoder: 8192 pulses per revolution 16 to 8192
W Absolute encoder: 1024 pulses per revolution 16 to 1024
S Absolute encoder: 8192 pulses per revolution 16 to 8192
After changing the parameter setting, always turn the power OFF, then ON.
The pulse dividing ratio does not affect the gear ratio settings (set in Cn-23 to Cn-25) for the
electronic gear function.
3 -105
Advanced Use
3.12 External Pulse Generators
In the SERVOPACK, full closed loops can be formed using external pulse generators.
Set the following memory switch bit to use an external pulse generator.
Cn-33 Bit E External Pulse Generator Factory Setting: 0
Setting Meaning
0 Does not use an external pulse generator.
1 Uses an external pulse generator.
External pulse generator signal inputs are outlined below.

3
→ Input PULS 1CN-3 External Pulse Generator Phase A Input
→ Input /PULS 1CN-4 External Pulse Generator Phase A Input
→ Input SIGN 1CN-6 External Pulse Generator Phase B Input
→ Input /SIGN 1CN-7 External Pulse Generator Phase B Input
→ Input CC 1CN-10 External Pulse Generator Phase C Input
→ Input /CC 1CN-9 External Pulse Generator Phase C Input
D Refer to 3.9 Pulse Operation Mode for information on pulse types and wiring for external
pulse generators.
D There is one-to-one correspondence between line PG pulses and command units. As a re-
sult, one line PG pulse is read as a move equivalent to one command unit. Electronic gears,
therefore, must be set so that one command unit corresponds to one line PG pulse. Refer
to 3.1.5 Electronic Gear.
D Phase C inputs need not be connected if machine zero point return in mode I or III or exter-
nal positioning is not used, and external pulse generators are used.
Use the following contact input to switch between external and motor pulse generators, when exter-
nal pulse generators are used.
→ Input /LPG 6CN-21 Line Pulse Generator Selection
6CN-21 is at low level when ON. Switches position feedback to the external pulse generator.
6CN-21 is at high level when OFF. Switches position feedback to the motor pulse generator.
Cn-32 Bit 7 Feedback after Positioning Completed Factory Setting: 0
3 -106
3.12 External Pulse Generators
Setting Meaning
0 Motor PG
1 /LPG contact
Set this memory switch bit to 0 to force positioning feedback to the motor pulse generator after
positioning is complete.
3 -107
Advanced Use
3.13 External Position Indicator
The wiring for connecting the MCIF-L8j External Position Indicator to the SERVOPACK is
shown in the following diagram.
Connect the MCIF-L8 External Position Indicator to the TXD (/TXD)

signal. Digital Operators and serial communications cannot be used
together with the External Position Indicator.
SERVOPACK
MCIF-L8 External Position Indicator
TXD
1 3CN-1
P /TXD
+ 1 2 3 4 5 6 7 8 2 3CN-2
0V
3 3CN-9
+5V 0V FG 4
3 +5 V 0 V
Set the following memory switch bit to use an External Position Indicator.
Cn-33 Bit 9 External Position Indicator Factory Setting: 0
Setting Meaning
0 Does not use an External Position Indicator.
1 Uses an External Position Indicator.
Note: The output terminal on the SERVOPACK for the External Position Indicator is the same
as the transmission output terminal for serial communications. External position indica-
tors, therefore, cannot be used at the same time as serial communications or Digital Opera-
tors.
Set the Cn-33 memory switch to send only External Position Indicator data through the SERVOPACK
serial output. Any data can be sent to the SERVOPACK if serial communications is used with bit 9
of Cn-33 still set to 1 (“Use an External Position Indicator”). If data is received, the SERVOPACK
serial output will return to normal mode, and normal data can be received and sent. To use a Digital
Operator, connect it to the SERVOPACK and turn ON the SERVOPACK control power supply.
To use the External Position Indicator again, turn ON the SERVOPACK control power again.
Set the following parameter to change the position of the decimal point for the External Position
Indicator.
Cn-3F Shifting the Position of Decimal Point Setting Range: Factory Setting: 0
and the Digits of Digital Switch 0 to 7
3 -108
3.13 External Position Indicator
The decimal point indicating the value set in Cn-3F will flash.
7 6 5 4 3 2 1 0
External Position Indicator
This parameter is also used for shifting the digits in the digital switches. Therefore, the digits in
the digital switches and the position of the decimal point on the External Position Indicator cannot
be shifted independently.
When using digital switches, Cn-3F is used to shift the value of each position command and input
feed speed leftwards.
Example: If Cn-3F is set to 3, the digital switch position command is set to 123, and the feed speed 3
is set to 456, the position command and feed speed values will be as follows:
Position command = 123 × 103 = 123000 command units
Feed speed = 456 × 103 = 456000 × 1000 command units/min
3 -109
Advanced Use
3.14.1 Dynamic Brake
3.14 Setting the Stop Function
3.14.1 Dynamic Brake
To stop the servomotor by applying dynamic brake (DB), set desired values in the following
memory switch bits. If dynamic brake is not used, the servomotor will stop naturally due to
machine friction.
Cn-01 Bit 6 How to Stop Motor When Servo is Factory Setting: 0

Turned OFF
Cn-01 Bit 7 Operation to Be Performed When Motor 1.5 kW or less: 1

Stops After Servo is Turned OFF 2.0 kW or more: 0
3 The SERVOPACK enters servo OFF status when:

Servo OFF
After stop
D Servo ON input signal (/S-ON, 1CN-28) is turned OFF Stop mode Releasing
Stop by dynamic brake
D Serial command SVOFF is received dynamic Bit 7
brake
Holding
D Servo alarm occurs Bit 6 dynamic brake
Coasting
to a stop
D Power is turned OFF
Specify how to stop the motor when one of the above events occurs during operation.
Setting Meaning
Cn-01 bit 6 0 Stops the motor by dynamic brake.
1 Causes the motor to coast to a stop.

The motor power is OFF and stops due to machine friction.
If dynamic brake stop mode is selected, specify the operation to be performed when the motor
stops.
Setting Meaning
Cn-01 bit 7 0 Releases dynamic brake after the motor stops.
1 Does not release dynamic brake even after the motor stops.
For 2.0 kW models, bit 7 of Cn-01 can be set to 0 only.
z Dynamic brake (DB)

TERMS SERVOPACK Servomotor
One of the general methods to cause a motor sudden stop.

“Dynamic brake” suddenly stops a servomotor by shorting its electrical circuit.
This dynamic brake circuit is incorporated in the SERVOPACK.
3 -110
3.14.2 Holding Brake

Holding brake is useful when a servo drive is used to control a vertical axis. A servomotor with
brake prevents the movable part from shifting due to gravitation when the system power is
turned OFF.
SGMj Servomotor
Holding brake
Prevents movable part from

shifting due to gravitation
when power is turned OFF.
3
IMPORTANT The built-in brake in an SGMj Servomotor with a brake uses de-energization operation, which is used for hold-
ing purposes only and cannot be used for braking purposes. Use the holding brake only to retain as topped motor.
J Wiring Example
Use SERVOPACK contact-output-signal /BK and brake power supply to form a brake ON/OFF
circuit. An example of standard wiring is shown below.
SGMj Servomotor
SGDB SERVOPACK with brake
Power supply
/BK+
Motor plug
/BK−
Blue or
yellow Red
White Black
Brake power supply

BK-RY: Brake control relay Brake power supply has two types (200 V, 100 V).
Output → /BK Brake Interlock Output
This output signal controls the brake when a motor with brake is used. This signal terminal need
not be connected when a motor without brake is used.
ON Status: Circuit is closed or signal is at low level. Releases the brake.
OFF Status: Circuit is open or signal is at high level. Applies the brake.
3 -111
Advanced Use
3.14.2 Holding Brake
Related Parameters
Cn-12 Delay time from brake signal until servo OFF
Cn-15 Speed level for brake signal output during motor rotation
Cn-16 Output timing of brake signal during motor rotation
Set the following parameter to specify the 1CN pin to which the /BK signal is output.

111 to 666 214
This parameter is used to select a function signal as the 1CN output signal.
3 100’s digit Select the 1CN-20 and 1CN-21 (/S-RDY) functions.
Set Value Function
1 /TGON
2 /S-RDY
3 /CLT
4 /BK
5 Overload warning
6 Overload alarm
Example: /BK is output to 1CN-16 and 1CN-17.

Cn-2D=jj4
J Brake ON Timing
If the machine moves slightly due to gravity when the brake is applied, set the following param-
eter to adjust brake ON timing:
Cn-12 Delay time from the Brake Command Unit: Setting Range: Factory
until Servo OFF 10 ms 0 to 50 Setting: 0
This parameter is used to set output timing of brake control signal /BK and servo OFF operation
(motor output stop) when SGMj Servomotor with brake is used.
Brake Timing when Motor is in Stopped Status
/S-ON input
(1CN-28) Servo ON
Servo OFF
Release
/BK output brake
Apply brake
Servo ON/OFF Motor is ON

Motor is OFF
operation (motor
ON/OFF status)
Cn-12
3 -112
With the standard setting, the servo is turned OFF when /BK signal (brake operation) is output.
The machine may move slightly due to gravitation. This movement depends on machine con-
figuration and brake characteristics. If this happens, use this parameter to delay servo OFF tim-
ing to prevent the machine from moving.
This parameter is used to set the brake ON timing when the motor is stopped.
For brake ON timing during motor operation, use Cn-15 and Cn-16.
J /BK Signal Output Conditions during Motor Operation

Set the following parameters to adjust brake ON timing so that holding brake is applied when
the motor stops.
Cn-15 Speed Level at which Brake Signal is Unit: Setting Range: Factory
Output during Motor Rotation r/min 0 to 500 Setting: 100
Cn-16 Output Timing of Brake Signal during Unit: Setting Range: Factory 3
Motor Rotation 10 ms 10 to 100 setting: 50
Cn-15 and Cn-16 are used for SGMj Servomotors with brake. Use these parameters to set
brake timing used when the servo is turned OFF by input signal /S-ON (1CN-28) or alarm oc-
currence during motor rotation.
Brakes for SGMj Servomotors are designed as holding brakes. Therefore, brake ON timing
when the motor stops must be appropriate. Adjust the parameter settings while observing ma-
chine operation.
Brake Timing when Motor is in Stopped Status
Power OFF by
/S-ON input Servo ON
(1CN-28) or Servo OFF
alarm Stop by dynamic
occurrence brake or coasting to a
stop (Cn-01 bit 6)
When the time set in Cn-16
Motor speed elapses, /BK signal is output.
(r/min)
Cn-15
Release Apply brake

/BK output
brake
Cn-16
Conditions for /BK signal output during motor operation. The circuit is opened in either of the
following situations.
1 Motor speed drops below the value set in Cn-15 after servo is turned OFF.
2 The time set in Cn-16 has elapsed since servo was turned OFF.
If the maximum motor speed or a speed equal to or greater than the Cn-03 setting (speed limit)
is set in Cn-15, the lower value of the maximum speed and the speed limit values will be used.
3 -113
Advanced Use
3.15.1 Adjusting Gain
3.15 Smooth Operation
3.15.1 Adjusting Gain
If speed loop gain or position loop gain exceeds the allowable limit for the servo system includ-
ing the machine to be controlled, the system will vibrate or become too susceptible. Under such
conditions, smooth operation cannot be expected. Reduce each loop gain value to an appropri-
ate value.
Check and reset the loop gain when:
D Automatically set loop gain values need to be checked after autotuning. (Refer to 3.16.1
Autotuning Function.)
3 D Each loop gain value checked above is to be directly set for another SERVOPACK.
D Response performance needs to be further enhanced after autotuning, or servo gain values
need to be reset for a system with lower response performance.
J Setting Position Loop

Set the following parameters related to position loop as necessary.
Cn-1A Position Loop Unit: 1/s Setting Range: Factory Setting:

Gain (Kp) 1 to 1000 40
This parameter is a position loop gain for the SERVOPACK. Increasing the position loop gain
value provides position control with higher response and less error. However, there is a certain
limit depending on machine characteristics. This parameter is automatically set by the autotun-
ing function.
Position command Position loop gain
Position feedback
Cn-1E Overflow Unit: 256 Setting Range: Factory Setting:

Command Units 1 to 32767 1024
Set in this parameter the error pulse level at which a position error pulse overflow alarm (alarm
A.D0) is detected. If the machine permits only a small position loop gain value to be set in
Cn-1A, an overflow alarm may arise during high-speed operation. In this case, increase the
value set in this parameter to suppress alarm detection.
(Alarm A.D0)
Cn-1E
Normal control
Error pulse
(Alarm A.D0)
3 -114
3.15 Smooth Operation
J Setting Speed Loop

Set the following parameters related to speed loop as necessary.
Cn-04 Speed Loop Gain (Kv) Unit: Hz Setting Range: Factory Setting:
1 to 4000 80
Cn-05 Speed Loop Integration Unit: 0.01 ms Setting Range: Factory Setting:
Time Constant (Ti) 200 to 51200 2000
Cn-04 and Cn-05 are speed loop gains and an integration time constant for the SERVOPACK,
respectively. The higher the speed loop gain value or the smaller the speed loop integration
time constant value, the higher the speed control response. There is, however, a certain limit
depending on machine characteristics.
Speed loop gain

Speed command
3
Speed feedback
The unit of speed loop gain (Kv) is Hz, but this value is obtained when GD2M equals GD2L.
Therefore, the value must be converted using load GD2 (= GD2L) as follows:
Kv value (Hz) = Set value in2Cn-042 × 2

1 + GD L∕GD M
These parameters are automatically set by the autotuning function.
3.15.2 Setting the Torque Command Filter Time Constant
If the machine causes vibration, possibly resulting from the servo drive, adjust the following
filter time constant. Vibration may stop.
Cn-17 Torque Command Filter Unit: 100 µs Setting Range: Factory Setting:
Time Constant 0 to 250 0
Cn-17 is a torque command filter time constant for the SGDB SERVOPACK. The smaller the
value, the higher the torque control response. There is, however, a certain limit depending on
machine conditions.
With the standard setting, the machine may cause vibration resulting from the servo drive. In
this case, increase the constant setting. Vibration may stop. Vibration can be caused by incor-
rect gain adjustment, machine problems and so on.
3 -115
Advanced Use
3.15.2 Setting the Torque Command Filter Time Constant
J Switching Torque Command Filter

The following memory switch bit can be used to switch between the primary and secondary
torque command filters. The filter to be used depends on machine characteristics. If vibration
occurs, select the appropriate filter by changing the memory switch setting.
Cn-02 Bit C Torque Command Filter Selection Factory Setting: 0
Setting Meaning
0 Primary filter
1 Secondary filter
3 -116
3.16 Minimizing Positioning Time
This section describes how to minimize positioning time.
3.16.1 Autotuning Function
If speed loop gain and position loop gain for the servo system are not set properly, positioning
may become slow. Techniques and experience are required to set these servo gain values ac-
cording to machine configuration and machine rigidity.
Σ-series SERVOPACKs have an autotuning function that automatically measures machine

characteristics and sets the necessary servo gain values set in the parameters. With this func-
tion, even first-time servo users can easily perform tuning.
The following parameters can be automatically set by the autotuning function.

3
Parameter Meaning
Cn-04 Speed loop gain
Cn-05 Speed loop integration time constant
Cn-1A Position loop gain
For details of how to perform autotuning, refer to 5.2.3 Autotuning.
3.16.2 Servo Gain Switching
This function switches between position loop gain and speed loop gain depending on the size
of the position error. Set the following parameters to use this switching function.
Cn-32 Bit D Variable Position Loop Gain Factory Setting: 0
Setting Meaning
0 Does not use variable position loop gain (Cn-34 and Cn-35 are invalid).
1 Uses variable position loop gain (Cn-34 and Cn-35 are valid).
Cn-34 Position Loop Gain 2 Unit: 1/s Setting Range: Factory Setting:
(Kp2) 1 to 1000 40
Cn-35 Position Loop Gain Unit: Setting Range: Factory Setting:

Switching Point Command Unit 1 to 10000 0
Absolute Value of Position Error Effective Position Loop Gain
< Cn-35 Cn-1A
≧Cn-35 Cn-34
Note: Cn-1A is selected unconditionally when Cn-35 is set to 0.
3 -117
Advanced Use
3.16.4 Speed Bias
Cn-32 Bit E Variable Speed Loop Gain Factory Setting: 0
Setting Meaning
0 Does not use variable speed loop gain (Cn-36 and Cn-37 are invalid).
1 Uses variable speed loop gain (Cn-36 and Cn-37 are valid).
Cn-36 Speed Loop Gain 2 (Kv2) Unit: Hz Setting Range: Factory Setting:
1 to 4000 80
Cn-37 Speed Loop Gain Unit: Setting Range: Factory Setting:

Switching Point Command Unit 1 to 10000 0
Absolute Value of Position Error Effective Position Loop Gain
< Cn-37 Cn-04

3 ≧Cn-37 Cn-36
Note: Cn-04 is selected unconditionally when Cn-37 is set to 0.
3.16.3 Feed-forward Control
Feed-forward control shortens positioning time. To use feed-forward control, set the follow-
ing parameter.
Cn-1D Feed-Forward Gain Unit: % Setting Range: Factory Setting:

0 to 100 0
This parameter is set to apply feed-forward fre- Differ-

entiation
quency compensation to position control inside the Position
command
SERVOPACK. Use this parameter to shorten posi-
tioning time. Too high a value may cause the ma- Position feedback
chine to vibrate. For ordinary machines, set 80% or

less in this constant.
3.16.4 Speed Bias
The settling time for positioning can be reduced by assigning bias to the speed command output
part in the SERVOPACK. To assign bias, use the following parameter.
Cn-1C Bias Unit: r/min Setting Range: Factory Setting:

0 to 450 0
TERMS z Feed-forward control
Control for making necessary corrections beforehand to prevent the control system from receiving the effects of dis-
turbance. Using feed-forward control increases effective servo gain, enhancing response performance.
3 -118
This parameter is set to assign an offset to a speed Internal speed

command
command in the SGDB SERVOPACK.
Error pulse
Use this parameter to reduce the settling time.
Set this parameter according to machine conditions.
3.16.5 Proportional Control

Input signal /P-CON and serial commands PCON and PCOFF to switch the P/PI control of the
speed loop. Refer to 3.6.1 Serial Commands for information on serial commands.
Input → /P-CON 1CN-29 Proportional Control
1CN-29 is at low level when ON. Sets speed loop to P (proportional) control.
1CN-29 is at high level when OFF. Sets speed loop to P/I (proportional/integral) control.
3
3.16.6 Mode Switch
Use the mode switch for the following purposes:
D To prevent overshoot during acceleration or deceleration (for speed control).
D To prevent undershoot during positioning in order to reduce settling time (for position con-
trol).
Overshoot
Speed
Actual motor operation
Command
Time
Undershoot
Settling time
In other words, the mode switch is a function that automatically switches the speed control
mode inside the SERVOPACK from PI control to P control while certain conditions are being
established.
IMPORTANT 1. The mode switch is used to fully utilize performance of a servo drive to achieve very high-speed positioning.
The speed response waveform must be observed to adjust the mode switch.
2. For normal use, the speed loop gain and position loop gain set by autotuning provide sufficient speed/posi-
tion control. Even if overshoot or undershoot occurs, they can be suppressed by setting the acceleration/de-
celeration type and acceleration/deceleration time.
TERMS z From PI control to P control
PI control means proportional/integral control and P control means proportional control. In short, switching “from
PI control to P control” reduces effective servo gain, making the servo system more stable.
3 -119
Advanced Use
3.16.6 Mode Switch
J Selecting Mode Switches

SERVOPACKs can use the four types of mode switches outlined below. Set the following
memory switch bit to select the type of mode switch. The operation level of the mode switch
is set in the parameter shown below.
Cn-01 Bit B Mode Switch Valid/Invalid Factory Setting: 0
Cn-01 Bit C Mode Switch Selection Factory Setting: 0
Cn-01 Bit D Mode Switch Selection Factory Setting: 0
Cn-0C Mode switch Conditions Setting Unit Factory

level Range Setting
Torque command 0 to 800 % 200
3 Speed command 0 to 10000 r/min
Acceleration 0 to 3000 10 (r/min)/s
Error pulse 0 to 10000 Command

unit
Memory Switch Cn-01 Mode Switch Setting Parameter Unit
Bit D Bit C Bit B
− − 1 Does not use mode switch. − −
0 0 0 Uses torque command as a Cn-0C Percentage of rated

detection point. torque: %
(Standard setting)
0 1 0 Uses speed command as a Motor speed: r/min

detection point.
1 0 0 Uses acceleration as a Motor acceleration:

detection point. 10 (r/min)/s
1 1 0 Uses error pulse as a Command unit

detection point.
When Torque Parameter Is Used as a Detection Point of Mode

Switch (Standard Setting)
If a torque command exceeds the torque value set
Command speed Motor speed
Speed
in parameter Cn-0C, the speed loop switches to P
control.
The SGDB SERVOPACK is factory set to this stan- Internal torque

command
dard mode (Cn-0C = 200). Torque
PI control PI control PI control

P control P control
3 -120
D Example of Use
If a mode switch is not used and PI control is always performed, torque may enter a satura-
tion state during acceleration or deceleration, causing the motor speed to have overshoot
or undershoot. Using the mode switch suppresses torque saturation and prevents the motor
speed from having overshoot and undershoot.
Without mode switch With mode switch

Overshoot
Motor
Motor speed
speed
Undershoot
Time Time
When Speed Command Is Used as a Detection Point of Mode

Switch
If a speed command exceeds the value set in param- Speed command Motor speed
3
eter Cn-0C, the speed loop switches to P control. Speed
Cn-0C
D Example of Use
The mode switch is used to reduce settling time. PI control P control PI control
Generally, speed loop gain must be increased to reduce settling time. Using the mode
switch suppresses the occurrence of overshoot and undershoot when speed loop gain is in-
creased.
Without mode switch Without mode switch

Speed command Motor speed Overshoot
Motor Increase speed loop gain Motor
speed speed
Undershoot
Settling time is long Time
With mode switch
Motor Suppress the occurrence of

speed overshoot and undershoot.
Settling time
When Acceleration Is Used as a Detection Point of Mode Switch

If motor acceleration exceeds the value set in pa- Command
speed Motor speed
rameter Cn-0C, the speed loop switches to P con-
Speed
trol.
Motor
+Cn-0C acceleration
Acceleration
−Cn-0C
PI control PI control PI control

P control P control
3 -121
Advanced Use
3.16.6 Mode Switch
D Example of Use
If a mode switch is not used and PI control is always performed, torque may enter a satura-
tion state during acceleration or deceleration, causing the motor speed to have overshoot
or undershoot. Using the mode switch suppresses torque saturation and prevents the motor
speed from having overshoot and undershoot.
Without mode switch With mode switch

Overshoot
Motor Motor
speed speed
Undershoot
Time Time
When Error Pulse Is Used as a Detection Point of Mode Switch

This is for position control only.
3
Speed command Motor speed
Speed
If an error pulse exceeds the value set in parameter
Cn-0C, the speed loop switches to P control. Error pulse
Cn-0C
D Example of Use PI control P control PI control
The mode switch is used to reduce settling time.

Generally, speed loop gain must be increased to reduce settling time. Using the mode
switch suppresses the occurrence of overshoot and undershoot when speed loop gain is in-
creased.
Without mode switch Without mode switch

Speed command Overshoot
Motor speed Increase speed loop gain
Motor Motor
speed speed
Undershoot
Settling time is long Time
With mode switch

Suppress the occurrence of
overshoot and undershoot.
Motor
speed
Settling time
IMPORTANT If the type of mode switch has been changed (at bits C and D of Cn-01), adjust the mode switch level (Cn-0C)
to suit the new type of mode switch.
3 -122
3.17 Handling Power Loss
3.17 Handling Power Loss
Use the following memory switch bit to specify whether or not to output a servo alarm when power
is lost.
Cn-01 Bit 5 Operation to be Performed at Recovery Factory Setting: 0

from Power Loss
If the SGDB SERVOPACK detects an instantaneous Power loss
voltage drop in power supply, it can output servo alarm 200 V supply
voltage
A.F3 to prevent a hazardous situation.
Cn-01 bit 5 = 0
ALM
(1CN-22) Cn-01 bit 5 = 1
3
Setting Meaning
0 Does not output a servo alarm after recovery from power loss.
1 Outputs a servo alarm after recovery from power loss.
Normally, set this memory switch bit to 0. If the /S-RDY signal is not to be used, set the memory
switch bit to 1. The /S-RDY signal remains OFF while the main power supply is OFF, regardless
of the memory switch setting.
3 -123
Advanced Use
3.18.1 Wiring Instructions
3.18 Special Wiring
This section describes special wiring methods including the one for noise control. Always refer to
3.18.1 Wiring Instructions and 3.18.2 Wiring for Noise Control, and refer to other sections as neces-
sary.
3.18.1 Wiring Instructions
To ensure safe and stable operation, always refer to the following wiring instructions.
1. Always use the following cables for command input and encoder wiring.
IMPORTANT
3 Cable Type Yaskawa Drawing No. Maximum

Allowable Length
For command input Twisted-pair cables JZSP-VBI14 (for 1CN) 3 m (9.8 ft.)
DE9411288 (for 6CN)
For encoder Multi-core shielded B9400064 20 m (65.6 ft.)

twisted-pair cable (for incremental encoder)
DP8409123
(for absolute encoder)
Trim off the excess portion of the cable to minimize the cable length.
2. For grounding, use as thick a cable as possible.
S Ground to 100 Ω or less.
S Always use one-line grounding.
S If the motor is insulated from the machine, ground the motor directly.
S Select grounding phase and grounding point in accordance with the national code and consistent with
sound local practices.
3. Do not bend or apply tension to cables.
Since the conductor of a signal cable is very thin (0.2 to 0.3 mm), handle it with adequate care.
4. Use a noise filter to prevent noise interference. Noise filter
(For details, refer to 3.18.2 Wiring for Noise Control.)
Iftheservoistobeusednearprivatehousesormayreceivenoiseinter-
ference, install a noise filter on the input end of the power supply line.
SincethisSERVOPACKisdesignedasanindustrialdevice,itprovides
no mechanism to prevent noise interference.
3 -124
3.18 Special Wiring
5. To prevent malfunction due to noise, take the following actions:

IMPORTANT
S Place the command input device and noise filter as close to the SERVOPACK as possible.
S Always install a surge absorber circuit in the relay, solenoid and magnetic contactor coils.
S The distance between a power line (such as a power supply line or motor cable) and a signal line must
be at least 30 cm (12 in). Do not put the power and signal lines in the same duct or bundle them together.
S Do not share the power supply with an electric welder or electrical discharge machine. When the
SERVOPACK is placed near a high-frequency oscillator, install a noise filter on the input end of the pow-
er line.
Note: 1. Since SERVOPACK uses high-speed switching elements, signal lines may receive
noise. To prevent this, always take the above actions.
2. For details of grounding and noise filters, refer to 3.18.2 Wiring for Noise Control.
6. Use a circuit breaker for wiring (MCCB) or fuse to protect the power supply line from high voltage.
S ThisSERVOPACKisdirectlyconnectedtocommercialpowersupply MCCB
without a transformer. Always use an MCCB or fuse to protect the ser-
vo system from accidental high voltage.
S Select an appropriate MCCB or fuse according to the SERVOPACK
3
capacity and the number of SERVOPACKs to be used as shown below.
Table 3.2 MCCB or Fuse Capacity for Each Power Capacity
SERVOPACK Power Capacity per Current Capacity per MCCB or

Model SERVOPACK (kVA) *1 Fuse (A) *2
SGDB-05AM 1.1 5
SGDB-10AM 2.0 7
SGDB-15AM 2.5 10
SGDB-20AM 4.0 12
SGDB-30AM 5.0 18
SGDB-50AM 9.5 28
SGDB-60AM 12.5 32
SGDB-75AM 15.0 41
SGDB-1AAM 19.0 60
SGDB-1EAM 30.0 80
* 1. Power capacity at rated load

* 2. Breaking characteristics (25°C): 2 seconds or more for 200%, 0.01 second or more for 700%
Note: A fast-operating fuse cannot be used because the SERVOPACK power supply is a capaci-
tor input type. A fast-operating fuse may blow out when the power is turned ON.
3.18.2 Wiring for Noise Control
J Example of Wiring for Noise Control

This SERVOPACK uses high-speed switching elements in the main circuit. It may receive
“switching noise” from these high-speed switching elements if wiring or grounding around the
3 -125
Advanced Use
SERVOPACK is not appropriate. To prevent this, always wire and ground the SERVOPACK
correctly.
This SERVOPACK has a built-in microprocessor (CPU). To protect the microprocessor from
external noise, install a noise filter in place.
The following is an example of wiring for noise control.

Noise filter *
Servomotor
L1
SGDB
200 VAC L2 SERVOPACK
L3
3.5 mm2
or more
(Casing) L1C
L3C
1, 3, 6CN FG
3 D Operation relay sequence

3.5 mm2
or more
D Signal generation circuit
(provided by customer)
3.5 mm2
or more
2 mm2 or more
(Casing) (Casing) 3.5 mm2 or more
(see note 2.) (Casing)
Wire with a thickness of
3.5 mm2 or more
(Casing)
Ground plate
Ground: One-line grounding
(ground to 100 Ω or less)
* When using a noise filter, always observe the following wiring instructions:
Note: 1. For a ground wire to be connected to the casing, use a thick wire with a thickness of at
least 3.5 mm2 (preferably, plain stitch cooper wire).
2. For wires indicated by P↕, use twisted-pair cables whenever possible.
J Correct Grounding
Always ground the motor frame.
Always connect servomotor frame terminal FG to the SERVOPACK ground terminal . Be

sure to ground the ground terminal .
If the servomotor is grounded via the machine, a switching noise current will flow from the
SERVOPACK power unit through motor stray capacitance. The above grounding is required
to prevent the adverse effects of switching noise.
If the command input line receives noise, do the following.
Ground the 0 V line (SG) of the command input line. If the main circuit wiring for the motor
is accommodated in a metal conduit, ground the conduit and its junction box. For all ground-
ing, always use one line grounding.
3 -126
3.18 Special Wiring
J Noise Filter Installation

Use an inhibit type noise filter to prevent noise from
the power supply line.
Install a noise filter on the power supply line for

peripheral equipment as necessary.
The following table lists recommended noise filters

for each SERVOPACK model.
Table 3.3 Noise Filter Models
SERVOPACK Model Noise Filter Recommended Noise Filter*

Connection
Model Specifications
0.5 kW SGDB-05AM LF-310 Three-phase 200
1.0 kW SGDB-10AM LF-315

VAC, 15 A
Three-phase 200
3
1.5 kW SGDB-15AM VAC,
AC 15 A

(Correct) VAC, 20 A
VAC, 30 A
5.0 kW SGDB-50AM − −
6.0 kW SGDB-60AM (Incorrect) LF-350 Three-phase 200
VAC, 50 A
VAC, 60 A
11.0 kW SGDB-1AAM LF-380K Three-phase 200
VAC, 80 A
15.0 kW SGDB-1EAM FN-258-100 Three-phase 200
(Manufactured by VAC, 100 A
Shaffner)
* These noise filters are manufactured by Tokin Corp. or Shaffner and available from Yaskawa.
For noise filters, contact your nearest Yaskawa sales representatives.
Always observe the following installation and wiring instructions. Incorrect use of a noise filter
halves its benefits.
3 -127
Advanced Use
Separate input lines from output lines.
Do not put the input and output lines in the same duct or bundle them together.
Noise Noise
filter filter
Noise Noise
filter filter
3
Separate these circuits.
Separate the noise filter ground wire from the output lines.
Do not accommodate the noise filter ground wire, output lines and other signal lines in the same
duct or bundle them together.
Noise Noise
filter filter
The ground
wire can be
close to input
lines.
3 -128
3.18 Special Wiring
Connect the noise filter ground wire directly to the ground plate.
Do not connect the noise filter ground wire to other ground wires.
Noise Noise
filter filter
Shielded Thick
ground wire and
short
3
When grounding a noise filter inside a Unit.
If a noise filter is located inside a Unit, connect the noise filter ground wire and the ground
wires from other devices inside the Unit to the ground plate for the Unit first, then ground these
wires.
Unit
Noise
filter
Ground
3 -129
Advanced Use
3.18.3 Using More Than One Servodrive
3.18.3 Using More Than One Servodrive
An example of wiring more than one servodrive is shown below.
Power supply
Power
Power ON
OFF
Noise
filter
SGMj
L1 SGDB
3 L2 SERVOPACK
L3
Servomotor
L1C
L3C
−22
−23
SGMj
L1 SGDB Servomotor
L2 SERVOPACK
L3
L1C
L3C
−22
−23
SGMj
L1 SGDB Servomotor
L2 SERVOPACK
L3
L1C
L3C
−22
−23
Note: Wire the SERVOPACK so that phase S is the grounding phase.
Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable
alarm detection relay 1RY to operate.
The output transistor is turned OFF when the ALM output signal invokes alarm state.
3 -130
3.18 Special Wiring
Multiple servos can share a single MCCB or noise filter. Always select a MCCB or noise filter
that has enough capacity for the total power capacity (load conditions) of those servos. For de-
tails, refer to page 3 -125.
MCCB Noise filter
SERVOPACK Model Noise Filter Recommended Noise Filter*

Connection
Model Specifications
VAC, 10 A
3
1.5 kW SGDB-15AM VAC,
AC 15 A

(Correct) VAC, 20 A
VAC, 30 A
5.0 kW SGDB-50AM − −
6.0 kW SGDB-60AM (Incorrect) LF-350 Three-phase 200
VAC, 50 A
VAC, 60 A
11.0 kW SGDB-1AAM LF-380K Three-phase 200
VAC, 80 A
15.0 kW SGDB-1EAM FN-258-100 Three-phase 200
(Manufactured by VAC, 100 A
Shaffner)
* These noise filters are manufactured by Tokin Corp. or Shaffner and available from Yaskawa.
For noise filters, contact your nearest Yaskawa sales representatives.
3.18.4 Using Regenerative Resistor Units
SERVOPACKs of 5.0 kW or higher have no built-in regenerative resistor. For such

SERVOPACKs, connect an external regenerative resistor unit.
3 -131
Advanced Use
3.18.4 Using Regenerative Resistor Units
J Connecting a Regenerative Resistor Unit

The standard connection diagram for a regenerative resistor unit is shown below.
SGDB SERVOPACK
L1
Three-phase L2
200 to 230 VAC L3
L1C
L2C
22
Alarm
23
+1
Regenerative resistor unit

Figure 3.2 Connecting a Regenerative Resistor Unit
J Regenerative Resistor Units
SERVOPACK Regenerative Resistor Unit Regenerative Resistance (Ω)

Model Model
SGDB-50AM JUSP-RA04 6.25
SGDB-60AM
SGDB-75AM JUSP-RA05 3.13
SGDB-1AAM
SGDB-1EAM
3 -132
3.18 Special Wiring
A regenerative resistor unit becomes very hot under some regenerative operation conditions of the servo system.
IMPORTANT
Therefore, provide a cooling mechanism for the regenerative resistor unit, use heat resistant and incombustible
cables, and route the cables so that they are not in contact with the unit.
The resistor specifications of each regenerative resistor unit are as follows:
JUSP-RA04 Model: 25Ω (220 W) × 4 (connected in parallel)
JUSP-RA05 Model: 25Ω (220 W) × 8 (connected in parallel)
A regenerative resistor reaches approximately 90_C (at an ambient temperature of 55_C) when it is used at 20%
of the rated allowable dissipation value of the resistor. The allowable motor regenerative power (average) is
180 W or the JUSP-RA04, and 350 W for the JUSP-RA05. If the regenerative power (average) exceeds the
allowable limit value when the servo system is perating in regenerative operation mode, select an additional
regenerative resistor that has a greater rated allowable dissipation value (W). Therefore, always take the servo
system operation conditions into consideration when determining which regenerative resistor unit to use.
Example of Allowable Motor Duty Conditions:
Motor instantaneous
max. speed
3
0.2 s 0.2 s 0.2 s 0.2 s
25 s
D Motor deceleration torque: Maximum torque

D Load inertia: Five times the motor rotor inertia
Assuming that there is no mechanical loss.
3.18.5 Using an Absolute Encoder
An absolute value detection system detects an absolute position of the machine even when the
servo system is OFF. If such a system is to be formed in the host controller, use an SGMj Ser-
vomotor with absolute encoder. Consequently, automatic operation can be performed without
machine zero point return operation immediately after the power is turned ON.
SGMj-jjjWj 12-bit absolute encoder

SGMj-jjjSj 15-bit absolute encoder
Always detects Machine zero

absolute position point return
operation
Absolute encoder
J Selecting Absolute Encoder

Set the following memory switch bit to 1 to select an absolute encoder.
Cn-01 Bit E Encoder Type Selection Factory Setting: 0
Sets the encoder type according to the servomotor to be used.
3 -133
Advanced Use
3.18.5 Using an Absolute Encoder
Motor Encoder Number of Encoder Pulses Per Revolution Set Value

Specifications
W Absolute encoder: 1024 pulses per revolution

1
S Absolute encoder: 8192 pulses per revolution
Use the following parameter to set the number of pulses for the absolute encoder to be used:
Cn-11 PULSNO Unit: P/R Setting Range:

Number of Encoder Pulses Number of encoder pulses
3 Set the number of encoder pulses according to the servomotor to be used.
Motor Encoder Number of Encoder Pulses Per Revolution Set Value

Specifications
W Absolute encoder: 1024 pulses per revolution 1024
S Absolute encoder: 8192 pulses per revolution 8192
IMPORTANT Incorrect setting of the above parameters may result in abnormal motor operation. To prevent this, always set
the parameter correctly.
J Using a Battery
Use the backup battery to enable the absolute encoder and SERVOPACK to store position and
parameter information even when the power is turned OFF. Connect the battery to SERVOPACK
terminal 7CN. Refer to 6.6.6 Back-up Battery.
J Setting up Absolute Encoder

Set up the absolute encoder in the following cases:
D When starting the machine for the first time

D When the absolute encoder is not connected to power supply or backup power supply (bat-
tery) for more than two days
The setup procedure is as follows:
3 -134
3.18 Special Wiring
15-bit absolute encoder (Motor encoder specifications=S)

1 Discharging Electricity from the Encoder
D Turn the SGDB SERVOPACK OFF, then disconnect

the encoder connector. 2 Turning Power ON
D Short-circuit between encoder connector terminals D Return the wiring to the normal state.
R and S for at least two minutes.
D Connect the battery and turn ON the SGDB
Key position SERVOPACK. An A.00 alarm will normally
occur here. Set the machine zero point, and
then either reset the SERVOPACK or cycle the
control power supply.
D If an A.00 alarm occurs even after setting the
machine zero point, and either resetting the
SERVOPACK or cycling the control power
supply, then repeat the same procedure from
the beginning.
D If no problem has occurred, the setup procedure
is complete.
12-bit absolute encoder (Motor encoder specifications=W)

1 Turning SGDB SERVOPACK ON
3
D Wire the SGDB SERVOPACK, motor and 3
encoder in the normal way. Resetting Data
D Connect the battery and turn the SGDB D Turn the SGDB SERVOPACK
SERVOPACK ON. OFF, then disconnect the
encoder connector.
D SGM and SGMP
Servomotors: Short-circuit Key
between encoder connector position
terminals 13 and 14 for at
least two seconds.
2 Turning the Encoder ON D SGMG, SGMD and SGMS
Servomotors: Short-circuit
between encoder connector
D Keep the encoder turned ON for approximately terminals R and S for at least
thirty minutes. two seconds.
D It does not matter even if alarm status arises.
4 Turning the Power ON
D Return the wiring to the normal state.

D Turn ON the SGDB SERVOPACK. An A.00
alarm will normally occur here. Set the machine
zero point, and then either reset the
SERVOPACK or cycle the control power supply.
D If an A.00 alarm occurs even after setting the
machine zero point, and either resetting the
SERVOPACK or cycling the control power
supply, then repeat the same procedure from
the beginning.
D If no problem has occurred, the setup procedure
is complete.
IMPORTANT Setting up the encoder sets the revolution count inside the encoder to 0.
After setting up the encoder, always reset the machine machine zero point. Operating the machine without the
machine zero point being reset does not only damage the machine but may also cause an accident resulting in
injury or death.
3 -135
Advanced Use
3.18.6 Extending an Encoder Cable
Both incremental and absolute encoders have a standard encoder cable (maximum 20 meters
(65.6 ft.)). If a longer cable is required, prepare an extension cable as described below. The
maximum allowable cable length is 50 meters (164 ft.).
J 3-meter (1.98 ft.) Cable with Connectors on Both Ends (for SGM
and SGMP)
D For incremental encoder: JZSP-CAP00-01

3 D For absolute encoder: JZSP-CAP10-01
J 3-meter (1.98 ft) Cable with Connector on One End
J Encoder Plug and Cable Clamp (for SGMG, SGMD, and SGMS)
or
D For incremental encoder: DE9411276-1

D For absolute encoder: DE9411277-1
D L-type plug: MS3108B20-29S
or
D Straight plug: MS3106B20-29S

D Cable clamp: MS3057-12A
3 -136
3.18 Special Wiring
J 50-meter (164 ft.) Extension Cable
D For both incremental and absolute encoders: DP8409179
Cut this cable 30 cm (0.98 ft.) or less from each end.

3
Cut Cut
Be sure to connect
each wire correctly
For SGMG, SGMD and (see the following
SGMS models, connect table).
directly to the plug.
Maximum 50 m (164 ft.)
3 -137
Advanced Use
Connect cables of the same color to each other as shown in the table below. Wiring for incre-
mental and absolute encoders is different.
Signal Color and Wire Size of Color and Wire Size of

Name Cable with Connectors 50-meter Extension
on Both Ends Cable (DP8409179)
PG5V Red AWG22 Red AWG16
PG0V Black AWG22 Black AWG16
PA Blue AWG26 Blue AWG26
/PA White/Blue AWG26 White/Blue AWG26
PB Yellow AWG26 Yellow AWG26
/PB White/Yellow AWG26 White/Yellow AWG26

3 PC Green AWG26 Green AWG26
/PC White/Green AWG26 White/Green AWG26
PS Purple AWG26 Purple AWG26
/PS White/Green AWG26 White/Green AWG26

Only the absolute
RESET White/Gray AWG26 White/Gray AWG26 encoder can be
connected.
BAT Orange AWG26 Orange AWG26
BAT0 White/Orange AWG26 White/Orange AWG26
Note: Make sure to connect the shield wires.
3 -138
3.18 Special Wiring
3.18.7 Using SGDB SERVOPACK with High Voltage Lines
SGDB SERVOPACKs use three-phase 200 VAC.
If, however, three-phase 400 VAC class (400 V, 440 V) power supply must be used, prepare
the following power transformer (for three-phase).
<Primary side> <Secondary side>

400 or 440 VAC 200 VAC
Select appropriate power transformer capacity according to the following table.
SERVOPACK
Model
Power Supply Capacity per
SGDB SERVOPACK (kVA) *
3
SGDB-05AM 1.1
SGDB-10AM 2.0
SGDB-15AM 2.5
SGDB-20AM 4.0
SGDB-30AM 5.0
SGDB-50AM 9.5
SGDB-60AM 12.5
SGDB-75AM 15.5
SGDB-1AAM 19.0
SGDB-1EAM 30.0
* At rated load.
When 400-V-class supply voltage is used, power must be turned ON and OFF on the primary
side of the power transformer.
3 -139
Advanced Use
3.18.8 Connector Terminal Layouts
This section describes connector terminal layouts for SGDB SERVOPACKs, SGMj servo-
motors and Digital Operators.
J SERVOPACK Connectors
1CN Terminal Layout
Motor rotation
1 19 /TGON−
detection output
Servo ready
2 SG 0V 20 /S-RDY+
Command and output
Servo ready
3 PULS line PG pulse
p lse 21 /S RDY
/S-RDY−
output
Command and input
Servo alarm
4 /PULS line PG pulse 22 ALM+
3 input
5 SG 0V
output
23 ALM
ALM−
Servo alarm
output
Command and PG dividing
6 SIGN 24 PAO
line PG sign input output phase A
Command and PG dividing
7 /SIGN 25 /PAO
line PG sign input output phase A
PG dividing
8 26 PBO
output phase B
Line PG machine
PG dividing
9 /CC zero point
i pulse
l 27 /PBO
Line PG machine output phase B
input
10 CC zero point pulse 28 /S-ON Servo ON signal
input
11 TMON Torq e monitor
Torque 29 /P CON
/P-CON P control input
inp t
Forward
12 VTG S d monitor
Speed i 30 P OT
P-OT
overtravel input
Reverse
13 31 N OT
N-OT
Machine zero overtravel input
PG dividing
14 PCO 32 /STP point return limit
output phase C
PG dividing switch input Forward current
15 /PCO 33 /P-CLT
output phase C limit ON input
Output during Reverse current
16 /CLT+ 34 /N CLT
/N-CLT
current limit limit ON input
Output during External power
17 /CLT
/CLT− 35 +24V
current limit supply input
Motor rotation
18 /TGON+ 36
detection output
D SERVOPACK end: Connector model: 10236-52A2JL (manufactured by 3M)

D Cable end: Connector model: 10136-3000VE (manufactured by 3M)
Connector case model: 10336-52S0-00S (manufactured by 3M)
3 -140
3.18 Special Wiring
2CN Terminal Layout
1 PG0V 11
PG power supply Battery (+) (for
PG power supply
2 PG0V 0V 12 BAT+ absolute encoder Battery (−) (for
0V
3 PG0V only) 13 BAT − absolute encoder
only)
4 PG5V 14 PC PG input
inp t phase C
PG power supply PG power supply
+5 V 5 PG5V 15 /PC PG input phase C
+5 V
6 PG5V 16 PA PG input phase A
7 17 /PA PG input phase A

PG input
p pphase S
8 PS (f absolute
(for b l en- 18 PB PG input
i phase
h B
PG input phase S
coder only)
9 /PS (for absolute en- 19 /PB PG input phase B
coder only)
10 20
D SERVOPACK end: Connector model: 10220-52A2JL (manufactured by 3M)

3
6CN Terminal Layout for Station Numbers
External power External power

1 0V1 26 0V2
Automatic supply input supply input
Command error
2 /AUT LT
/AUT-LT operation mode 27 /ERR
output
display /MAN- Manual operation Current station
3 28 /P0
LT mode display position output
Positioning
g
Current station
4 /POS1 complete
l output 29 /P1
Positioning position output
(COIN) Current station
5 POS2 proximity output 30 /P2
position ooutput
tp t
Alarm code (NEAR) Current station
6 /AL0 31 /P3
output position output
Alarm code Current station
7 /AL1 32 /P4
Alarm code output Command data position output
8 /AL2 33 /CD0
output input
Alarm code Command data
9 /AL3 34 /CD1
output input
Command data
10 35 /CD2
input
Command data
11 36 /CD3
input
Command data
12 37 /CD4
Machine zero input
Command data
13 /ZRN point ret
return
rn mode 38 /CD5
input
Manual operation settings input
Command data
14 /MAN mode settings 39 /CD6
input
input Pulse operation
Command data
15 /PULS mode settings 40 /CD7
input
Manual operation input
Command data
16 /MCW (in the cw 41 /CD8
direction) Command data
17 /MCCW (in the ccw 42 /CD9
i
input
direction) Command data
18 /RST Reset input 43 /CD10
input
2nd speed Command data
19 /SP2ND 44 /CD11
3rd speed selection input Rotating direction input
20 /SP3RD 45 /DR0
selection input selection input 0
Line PG selection Rotating direction
21 /LPG 46 /DR1
input Station number selection input 1
22 /AST Start input 47 /PS0
read select
/ALM Station number
23 Alarm reset input 48 /PS1
RST External ppower read select
24 STOP Pause input 49 +24V2
supply
l input
i
External power
25 +24V1
24V1 50
supply input
3 -141
Advanced Use
6CN Terminal Layout for Digital Switches

1 0V1 26 0V2
Command error
2 /AUT LT
output
display /MAN- Manual operation
3 28 /DSO0 Data strobe output
LT mode display
Positioning
g
4 /POS1 complete
l output 29 /DSO1 D strobe
Data b output
Positioning
(COIN)
5 POS2 proximity output 30 /DSO2 Data strobe output
Alarm code (NEAR)
6 /AL0 31 /DSO3 Data strobe output
output
Alarm code
7 /AL1 32 /DSO4 Data strobe output
o tp t
Alarm code output Position data
8 /AL2 33 /DSI10
output input
Alarm code Position data
9 /AL3 34 /DSI11
output input
Position data
10 35 /DSI12
input
Position data
11 36 /DSI13
input
Position data
12 37 /DSI14
Machine zero input
Position data
13 /ZRN point return
ret rn mode 38 /DSI15
input
3
Position data
14 /MAN mode settings 39 /DSI16
input
Position data
15 /PULS mode settings 40 /DSI17
input
16 /MCW (in the cw 41 /DSI20 Speed data input
direction) Manual operation
17 /MCCW (in the ccw 42 /DSI21 Speed data input
direction)
18 /RST Reset input 43 /DSI22 Speed data input
2nd speed
19 /SP2ND 44 /DSI23 S d data
Speed d input
i
3rd speed selection input
20 /SP3RD 45 /DSI24 Speed data input
selection input Line PG selection
21 /LPG 46 /DSI25 Speed data input
input
22 /AST Start input
inp t 47 /DSI26 Speed data input
inp t
/ALM
23 Al
Alarm reset input
i 48 /DSI27 S d data
Speed d input
i
RST External power
s ppl input
supply inp t
External power
25 +24V1 50
supply input
3 -142
3.18 Special Wiring
6CN Terminal Layout for Serial Communications

1 0V1 26 0V2
Command error
2 /AUT LT
output
display /MAN- Manual operation
3 28
LT mode display
Positioning
g
4 /POS1 complete
l output 29
Positioning
(COIN)
5 POS2 proximity output 30
Alarm code (NEAR)
6 /AL0 31
output
Alarm code
7 /AL1 32
Alarm code output
8 /AL2 33
output Alarm code
9 /AL3 34
output
10 35
11 36
12 37
Machine zero
13 /ZRN point
i return mode
d 38
14 /MAN mode settings 39
3
15 /PULS mode settin
settingss 40
16 /MCW (in the cw 41
direction) Manual operation
17 /MCCW (in the ccw 42
direction)
18 /RST Reset input 43
2nd speed
19 /SP2ND 44
20 /SP3RD 45
selection input Line PG selection
21 /LPG 46
input
22 47
/ALM
23 Alarm reset input 48
RST
24 49
External power
25 +24V1 50
supply input
3 -143
Advanced Use
6CN Terminal Layout for Command Table

1 0V1 26 0V2
Command error
2 /AUT LT
output
display /MAN- Manual operation Zone signal data
3 28 /P0
LT mode display output
Positioning
g
Zone signal data
4 /POS1 complete
l output 29 /P1
Positioning output
(COIN) Zone signal data
5 POS2 proximity output 30 /P2
o tp t
output
Alarm code (NEAR) Zone signal data
6 /AL0 31 /P3
output output
Alarm code Zone signal data
7 /AL1 32 /P4
Alarm code output Position number output
8 /AL2 33 /CD0
output data input
Alarm code Position number
9 /AL3 34 /CD1
output data input
Position number
10 35 /CD2
data input
Position number
11 36 /CD3
data input
Position number
12 37 /CD4
Machine zero data input
Position number
13 /ZRN point return
ret rn mode 38 /CD5
data input
3
Position number
14 /MAN mode settings 39 /CD6
data input
Position number
15 /PULS mode settings 40 /CD7
data input
Position number
16 /MCW (in the cw 41 /CD8
Manual operation data input
direction)
17 /MCCW (in the ccw 42
direction)
18 /RST Reset input 43
2nd speed
19 /SP2ND 44
20 /SP3RD 45
selection input
Line PG selection
21 /LPG 46
input Zone data read
22 /AST Start input 47 /PS0
selection signal
/ALM Zone data read
23 Alarm reset input 48 /PS1
RST External ppower selection signal
supply
l input
i
External power
25 +24V1
24V1 50
supply input
D SERVOPACK end: Connector model: 10250-6202JL (manufactured by 3M)

3 -144
3.18 Special Wiring
J Connectors for Incremental Encoders
SGM and SGMP Series
1 Channel A output Blue

2 Channel A output Blue/Black
3 Channel B output Yellow
4 Channel B output Yellow/Black
5 Channel C output Green
6 Channel C output Green/Black
7 0 V (power supply) Gray
8 +5 V (power supply) Red
9 Frame ground (FG) Orange
Items to be Prepared by Customer

Cap: 172161-1 3
Socket: 170361-1 (chain type) or
170365-1 (loose type)
Blue
White/Blue
Yellow Items to be Prepared by Customer
White/Yellow
Green
Case:
White/Green 10320-52S0-00S
Red
Black (manufactured by 3M)
Connector:
10120-3000VE
(manufactured by 3M)
Green/Yellow
3 -145
Advanced Use
J Connectors for Absolute Encoders
SGM and SGMP Series
1 Channel A output Blue

2 Channel A output White/Blue
3 Channel B output Yellow
4 Channel B output White/Yellow
5 Channel Z output Green
6 Channel Z output White/Green
Do not use this terminal. 7 0 V (power supply) Black
(It is used to discharge 8 +5 V (power supply) Red
electricity from capacitor
before shipment.) 9 Frame ground (FG) Green/Yellow
10 Channel S output Purple
3 11 Channel S output
(12) (Capacitor reset)
White/Purple
(Gray)
13 Reset White/Gray
14 0 V (battery) White/Orange
15 3.6 V (battery) Orange

Cap: 172163-1
Socket: 170361-1 (chain type) or
170365-1 (loose type)
Blue
White/Blue
Yellow
White/Yellow Items to be Prepared by Customer
Green
White/Green
Case:
Purple 10320-52S0-00S
White/Purple
Red (manufactured by 3M)
Black Connector:
10120-3000VE
White/Gray
Orange
White/Orange
Green/Blue
3 -146
3.18 Special Wiring
J Connectors for Incremental Encoders
SGMG, SGMD and SGMS Series
A Channel A output
B Channel A output
C Channel B output
D Channel B output
E Channel C output
F Channel C output
G 0 V (power supply)
H +5 V (power supply)
J Frame ground (FG)

Plug: (L shaped) MS3108B20-29S or
(Straight) MS3106B20-29S
3
Cable clamp: MS3057-12A
Blue
White/Blue
Yellow
White/Yellow
Green Case:
White/Green
Red 10320-52S0-00S
Black (manufactured by 3M)
Connector:
10120-3000VE
3 -147
Advanced Use
J Connectors for Absolute Encoders
A Channel A output
B Channel A output
C Channel B output
D Channel B output
E Channel Z output
F Channel Z output
G 0 V (power supply)
H +5 V (power supply)
J Frame ground (FG)
K Channel S output
3 L
R
Channel S output
Reset
S 0 V (battery)
T 3.6 V (battery)
Plug: (L shaped) MS3108B20-29S or
(Straight) MS3106B20-29S
Cable clamp: MS3057-12A
Blue
White/Blue
Yellow
White/Yellow
Green
White/Green Case:
Purple
White/Purple 10320-52S0-00S
Red (manufactured by 3M)
Black
Connector:
10120-3000VE
White/Gray
Orange
White/Orange
3 -148
3.18 Special Wiring
J Connectors and Terminals for Standard Motors (without Brakes)
SGM and SGMP Series
1 Phase U Red
2 Phase V White
3 Phase W Blue
4 Frame ground (FG) Green
For SGMP-15A
CHARGE L1CL3C − U V W
L1 L2 L3 + B 3
M4 crimp terminal
Cap: 172159-1 Items to be Prepared by
Socket: 170362-1 or 170366-1 Customer
Round crimp terminal R1.25-4TOR
For SGMP-15A (manufactured by AMP)
Cap: 350780-1
Socket: 350536-6 or 350550-6
3 -149
Advanced Use
J Connectors and Terminals for Motors with Brakes
SGM and SGMP Series
1 Phase U Red
2 Phase V White
3 Phase W Blue
4 Frame ground (FG) Green
5 Brake terminal Black
3 L1 L2 L3 + B
M4 crimp terminal
Cap: 172160-1 Items to be Prepared by Customer
Socket: 170362-1 or 170366-1 Round crimp terminal R1.25-4TOR
(manufactured by AMP)
For SGMP-15A
Cap: 350781-1
Socket: 350536-6 or 350550-6
(DC side)
Red
AC input
Black
Brake power supply (manufactured by

Yaskawa Controls Co., Ltd.)
D 100 VAC input: 90 VDC (LPDE-1H01)
D 200 VAC input: 90 VDC (LPSE-2H01)
3 -150
3.18 Special Wiring
J Connectors and Terminals for Standard Motors (without Brakes)
A Phase U
B Phase V
C Phase W
D Frame ground (FG)
L1 L2 L3 + B 3
For plug and cable clamp models,

refer to 6.6.3 Connector.
3 -151
Advanced Use
J Connectors and Terminals for Motors with Brakes
A Phase U
B Phase V
C Phase W
D Frame ground (FG)
E Brake terminal
F Brake terminal
3 L1 L2 L3 + B
For plug and cable

clamp models, refer to
6.6.3 Connector.
(DC side)
Red
AC input
Black
Brake power supply (manufactured by

Yaskawa Controls Co., Ltd.)
D 100 VAC input: 90 VDC (LPDE-1H01)
D 200 VAC input: 90 VDC (LPSE-2H01)
3 -152
3.18 Special Wiring
J Connectors for Digital Operators

D JUSP-OP02A-1 (Hand-held) D JUSP-OP03A (Mounted)
Fits directly into 3CN

on the SERVOPACK.
17JE-23090-02
(manufactured by Daiichi Cable
Denshi Kogyo K.K.) (accessory)
Pin Signal Signal Circuit Name Signal

No. Name Direction
1 TXD Send data (straight signal) P←S
2 /TXD Send data (inverted signal) P←S
3 RXD Receive data (straight signal) P→S
4 /RXD Receive data (inverted signal) P→S
5 OPH − #
6 /RXD Shorting between pins 6 and 7 produces a terminal
7 RT resistance of 220 Ω between RXD and /RXD.
8 5VPP − #
9 GND Signal ground 0 V
3 -153
4
Using Serial Communications
This chapter explains the specifications and commands associated with se-
rial communications. The use of serial communications allows the user to
input a variety of commands and set parameters, as well as to monitor 4
SERVOPACK operation, from a personal computer or other device.
4.1 Connecting and Setting Up

Serial Communications . . . . . . . . . . . . . . . . 4-2
4.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.1.2 Wiring to the Host Controller . . . . . . . . . . . . . . . . 4-3
4.1.3 Baud Rate and Command Length Mode
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.1.4 Axis Address Settings . . . . . . . . . . . . . . . . . . . . . . 4-8
4.1.5 Axis Number Setting . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.1.6 Group Function Setting . . . . . . . . . . . . . . . . . . . . . 4-9
4.2 Serial Communications Commands . . . . . 4 - 10
4.2.1 Sending Commands to a SERVOPACK . . . . . . . 4 - 10
4.2.2 Reading Data from a SERVOPACK . . . . . . . . . . 4 - 12
4.3 Using Fixed Length Mode . . . . . . . . . . . . . . 4 - 17
4.3.1 Calculating the Checksum . . . . . . . . . . . . . . . . . . 4 - 17
4.3.2 Handling Communications Errors . . . . . . . . . . . . 4 - 17
4.3.3 Data Sent from the SERVOPACK . . . . . . . . . . . . 4 - 18
4.4 Serial Commands for Settings and
Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 20
4.4.1 List of Commands . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 20
4.4.2 Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 23
4.5 Communications Specifications . . . . . . . . . 4 - 31
4.5.1 Hardware Specifications . . . . . . . . . . . . . . . . . . . . 4 - 31
4.5.2 Communications Control Codes . . . . . . . . . . . . . 4 - 32
4.5.3 Transmission/Reception Timing . . . . . . . . . . . . . . 4 - 32
4 -1
4.1.1 Overview
4.1 Connecting and Setting Up Serial Communications
A SGDB-jjAM SERVOPACK can be connected to a host controller equipped with an RS-422A

communications port. This section explains how to connect a SERVOPACK and a host controller
using serial communications.
4.1.1 Overview
Whether in a single-axis configuration or multi-axis configuration (up to 32 axes), a SGDB-

jjAM SERVOPACK can be operated from a single host controller. In a multi-axis configura-
tion, commands can be sent to each axis separately, to groups of axes, or to all axes at once.
The required serial communications settings differ in each case.
J Single-axis Configuration
4
A single-axis configuration is like the one
shown in the figure on the right. In this case, Host controller
the initial settings necessary for serial com-

3CN
munications are as follows:
D Baud rate and command length mode SERVOPACK
A single-axis configuration has the follow-

ing characteristics:
M Motor
D The echoback function can be used with commands.
D Automatic data transmission from the SERVOPACK can be used.
J Multi-axis Configuration without Groups
A multi-axis configuration is shown in the following figure. In this case, each SERVOPACK
is differentiated by an axis address (1 to 15). The initial settings necessary for serial commu-
nications are as follows:
D Baud rate and command length mode
D Axis address (axis number only, groups are not used)
A multi-axis configuration without groups possesses the following characteristics:
D Up to 15 axes can be connected. (Electrically, up to 32 axes can be connected, but the num-
ber of axes is logically limited to 15.)
D Commands can be sent separately to each axis or to all axes at once.
D The echoback and automatic data transmission functions cannot be used.
4 -2
Host Controller
3CN 3CN
#1 SERVOPACK #2 SERVOPACK
M Motor M Motor
(Up to 32 axes can be connected)
J Multi-axis Configuration with Groups

The hardware configuration is the same as that of a system that does not use groups, i.e., the
same as the one shown above. Each SERVOPACK is differentiated by an address set for each
axis (11 to 19, 21 to 29, ... , 91 to 99) The 10’s digit is the group number and the 1’s digit is
the axis number. The initial settings necessary for serial communications are as follows:
D Baud rate and command length mode

D Axis address (both axis number and group number) 4
A multi-axis configuration with groups possesses the following characteristics:
D One group can contain up to 9 axes, and up to 9 groups can be set, with a maximum of 32
axes possible. (Logically, up to 81 axes can be connected, but electrical specifications limit
the number of axes to 32.)
D Commands can be sent separately to each axis, to all axes with the same group number, to
all axes with the same axis number, or to all axes at once.
D The echoback and automatic data sending functions cannot be used.
4.1.2 Wiring to the Host Controller
The method of wiring to the host controller with an RS-422A interface and personal computers
with an RS-232C interface is explained in this section for each system configuration. When
an RS-232C interface is used, limit the cable length to 2 meters or less, and connect only one
axis.
J Single-axis Configuration (RS-422A)

Wire as shown in the following figure.
If the cable is too long, it may be necessary to insert a terminating resistor.
The addition of a terminating resistor generally improves resistance to noise and other interfer-
ence.
When required, insert a terminating resistor between the RXD and /RXD of the host controller
and the RXD and /RXD of the SERVOPACK. The SERVOPACK has a built-in terminating
resistor (220 Ω), and shorting between 3CN-6 and 3CN-7 will connect it to the circuit.
4 -3
4.1.2 Wiring to the Host Controller
Host Controller SERVOPACK
R: Resistance 1 to 10 kΩ +5 V
RXD R TXD 3CN-1
Serial
communications /RXD P
/TXD 3CN-2 Send
D Asynchronous R
D Baud rate 1200 to 0V
38400 bps TXD RXD 3CN-3
/TXD P /RXD 3CN-4
Receive
3CN
/RXD -6
3CN-7
RT 220 Ω
GND 3CN-9
0V 0V
FG connector case
FG
Note: P indicates twisted-pair cable.
J Multi-axis Configuration (RS-422A)

Wire as shown in the following figure.
4
If the cable is too long, it may be necessary to insert a terminating resistor.
The addition of a terminating resistor generally improves resistance to noise and other interfer-
ence.
When required, insert a terminating resistor between the RXD and /RXD of the host controller
and the RXD and /RXD of the last SERVOPACK (the SERVOPACK furthest from the host con-
troller).
The SERVOPACK has a built-in terminating resistor, and shorting between 3CN-6 and 3CN-7
will connect it to the circuit.
4 -4
Host controller
TXD RXD 3CN-3
/TXD /RXD 3CN-4 No.1 SERVOPACK
3CN-3
No.2 SERVOPACK
3CN-4
3CN-3
3CN-4 Final SERVOPACK
3CN-6
3CN-7
220 Ω
Host controller
+5 V
RXD TXD 3CN-1
/RXD No.1 SERVOPACK
/TXD 3CN-2
220 Ω
0V 3CN-1
3CN-2 No.2 SERVOPACK 4
3CN-1
3CN-2 Final SERVOPACK
J Connecting to a Personal Computer (RS-232C)

Wire as shown in the following figure, making sure the length of the cable does not exceed 2
meters.
The following dedicated cables are available from Yaskawa.
For IBM PC/AT or compatible computer: DE9408565
Electrical characteristics can sometimes prevent communications with a SERVOPACK from
an RS-232C port, even if the wiring is correct and Yaskawa cables are used. In such cases, use
a commercially available RS-232C ↔ RS-422A converter, and connect to an RS-422A port.
Connecting to IBM PC/AT (or Compatible)
SERVOPACK RS-232C Port

GND 5
3CN-9 0V
4
DTR
6
DSR
/TXD 2
3CN-2 /RXD
/RXD 3
3CN-4 /TXD
1 CD
FG
Connector 7 RTS
Case 8 CTS
FG *
Personal computer-end connector 17JE-13090-02(08A) manufactured

by Daiichi Electronic Industries, Ltd, or an equivalent product.
* Connect FG to connector case.
4 -5
4.1.3 Baud Rate and Command Length Mode Settings
J 3CN I/O Signals

Table 4.1 Terminal Arrangement
1 TXD Serial communications line driver

straight output
6 /RXD Serial communications line receiver
2 /TXD Serial communications line driver inverted input
inverted output 7 RT Terminating resistor
3 RXD Serial communications line receiver
straight input 8 5VPP Digital Operator power supply
4 /RXD Serial communications line receiver
inverted input 9 GND 0 V for signal
5 OPH Signal for Digital Operator
Table 4.2 Terminal Functions
Output → TXD 3CN-1 Data sending signal from the SERVOPACK when using serial commu-
4 Output → /TXD 3CN-2
nications conforming to RS-422A specifications.
specifications When data is not
being sent, the signal lines have high impedance.
→ Input RXD 3CN-3 Data receiving signal from the host controller (personal computer, etc.)
when using serial communications conforming to RS-422A specifica-
→ Input /RXD 3CN-4 tions.
→ Input OPH 3CN-5 Digital Operator signal. Do not connect.
→ Input /RXD 3CN-6 Shorting terminals 3CN-6 and 3CN-7 connects terminating resistance
to the serial input
p circuit of the SERVOPACK. Insert terminatingg resist-
→ Input RT 3CN-7 ance into the SERVOPACK at the end of the serial line (i.e., furthest
from host controller).
Output → 5VPP 3CN-8 +5 V power supply output for Digital Operator. Do not connect.
Output → SG 3CN-9 Ground for /TXD, TXD, /RXD, and RXD signals.
4.1.3 Baud Rate and Command Length Mode Settings
Set the baud rate and command length mode according to the host controller settings.
The SGDB-jjAM SERVOPACK supports two command modes.
Normal mode: This mode maintains compatibility with CACR-HR SERVOPACKs.
Fixed length mode: The length of commands and the SERVOPACK responses are fixed at
three characters, and a checksum is added. Also, communications errors
are classified in more detail than in normal mode. Refer to 4.3 Using
Fixed Length Mode.
J Baud Rate and Command Length Mode Settings

The 2SW is used to set the baud rate and command length mode.
4 -6
2SW Baud Rate and Command Setting Range Factory Setting

Length Mode
0 to F 0
2SW Baud Rate Command Length Mode
0 38400 bps Standard Length Mode 6CN
2SW 3CN
1 19200 bps
2SW
2 9600 bps
STATUS
SERVOPACK
SGDB-
3 4800 bps POWER
ALARM 5CN
1SW
4 2400 bps
1CN 7CN 2CN
5 1200 bps
6 − −
7 − −
8 38400 bps Fixed Length Mode
9 19200 bps
4
A 9600 bps
B 4800 bps
C 2400 bps
D 1200 bps
E − −
F − −
Note: Do not set 6, 7, E, and F, as functions may be assigned to these settings without prior notice.
4 -7
4.1.4 Axis Address Settings
4.1.4 Axis Address Settings
When an SGDB-jjAM SERVOPACK operates as part of a multi-axis configuration system,

it is assigned an axis address. Commands sent to SERVOPACKs can also contain an axis ad-
dress. In this way, it is possible to send commands to a particular SERVOPACK or a particular
group of SERVOPACKs among those connected in series using serial communications.
The following three settings are used according to the connection method. The maximum num-
ber of connected axes and the axis specification functions differ in each method.
Connection Max. No. of Required Settings Axis Address Designation

Method Axes
Connected Cn-32 Bit 8 Cn-13 1SW Single Axis All Axes All Axes in All Axes
(Group (Group No.) (Axis No.) Same with Same
Function Group Axis
Enable/ Number
Disable
Selection)
Single-axis 1 0 (Disabled) No setting re- 0 Axis address − − −

Configuration quired. designation
4 not required.
Multi-axis 15 0 (Disabled) No setting re- 1 to F 1 to 15 0 or 00 or − −

Configuration quired. (Correspond axis address
without to axis num- omitted.
Groups bers 1 to 15.)
Multi-axis 32 1 (Enabled) 1 to 9 1 to 9 11 to 19, 21 0 or 00 or 10, 20, ..., 90 01, 02, ..., 09

Configuration (See note) to 29, ..., 91 to axis address
with Groups 99 omitted.
Note: Up to 81 logical axes can be connected, but the electrical specifications of the serial circuit limit the number of physical axes
to 32.
J Axis Addresses in a Single-axis Configuration

There are no axis addresses.
No axis address is included in a command when it is sent.
J Axis Addresses in a Multi-axis Configuration without Groups

The axis address is determined by the axis number only.
Commands can be sent to a single axis address or to all axes.
J Axis Addresses in a Multi-axis Configuration with Groups

The axis address contains an axis number and a group number.
The lower-place digit of the axis address is the axis number and the higher-place digit is the
group number.
Commands can be sent to a single axis address, to all axes with the same axis number (the low-
er-place digit of the axis address), to all axes with the same group number (the higher-place
digit of the axis address), or to all axes regardless of the axis address.
4 -8
4.1.5 Axis Number Setting
The axis number is set using the rotary switch described below.
The axis address is enabled or disabled using this rotary switch.
1SW Axis Number Setting Range Factory Setting

0 to F 0
1SW Content Remarks
0 Disables axis address Select when using single-axis 6CN
configuration. 3CN
1 to 9 Sets axis numbers to 1 to 9. Select when using multi-axis 2SW

configuration. STATUS
1SW SERVOPACK
SGDB-
A Sets axis number to 10. Can be selected only when POWER

ALARM 5CN
using multi
multi-axis
axis configura
configura- 1SW
B Sets axis number to 11. tion without groups. (Disable

the
h group ffunction.)
i )
1CN 7CN 2CN
4
C Sets axis number to 12.
D Sets axis number to 13.
E Sets axis number to 14.
F Sets axis number to 15.
4.1.6 Group Function Setting
To use groups, the user needs to enable the group function and set a group number.
Whether to enable or disable the group function is set using the following memory switch bit.
Cn-32 bit 8 Group Function Enable/Disable Factory Setting

0
Setting Content Remarks
0 Disables group function. Select when using single-axis configuration and multi-axis
configuration without groups.
1 Enables group function. Set group number in Cn-13 when group function is enabled.
The group number is set using the following parameter.
Cn-13 Group Number Setting Range Factory Setting

1 to 9 1
4 -9
4.2.1 Sending Commands to a SERVOPACK
4.2 Serial Communications Commands
The use of serial commands to operate the SERVOPACK via serial communications is explained
in this section using the normal mode as an example. Refer also to 4.3 Using Fixed Length Mode
for information on using commands in fixed length mode.
4.2.1 Sending Commands to a SERVOPACK
Commands are sent as described in this section. If the axis number is omitted in a multi-axis
configuration, the command will be sent to all axes.
J Single-axis Configuration
When sending a command, the axis address is not included.
Commands take the following format:

4 [Command string][CR]
([CR] indicates a carriage return)
Example:
Commands Explanation
SVON [CR] Turns Servo ON.
SPD12000 [CR] Sets feed speed data to 12000 (×1000 command units/min).
MOV40000 [CR] Sets position data to 40000 (command units).
ST [CR] Starts operation.
J Multi-axis Configuration without Groups

Commands sent to SERVOPACKs with an axis address M from 1 to 15 have the axis address
M included at the beginning of the command. If the axis address is omitted or designated as
0 or 00, the command will apply to all connected SERVOPACKs.
Commands take the following format:
[Axis address][Command string][CR]

(where [CR] indicates a carriage return)
Contents of [Axis Address] Designated Axis
None, 0, or 00 All axes.
N (N = 1 to 15), 0N (N = 1 to 9) Axis address N
N (N ≧ 16) None (Axis addresses note between 1 and 15 are ignored.)
4 -10
Example:
1SVON [CR] Turns ON Servo with axis address 1.

0SPD12000 [CR] Sets feed speed data of all axes to 12000 (×1000 command units/
min).
1MOV40000 [CR] Sets position data of axis 1 to 40000 (command units).
2MOV20000 [CR] Sets position data of axis 2 to 20000 (command units).
0ST [CR] Starts operation at all axes.
J Multi-axis Configuration with Groups
Commands sent to SERVOPACKs with an axis address have the axis address included at the be-
ginning of the command. The axis address is in the form NM, when N is the group number set
in Cn-13 and M is the axis number set on 1SW. All axes or all groups can be specified by using
0 instead of the actual number. For example, specifying 0M would send commands to all SER-
VOPACKs with axis number M, specifying N0 would send commands to all SERVOPACKs in
4
group number N, and specifying 00 would send commands to all connected SERVOPACKs.
[Axis address][Command string][CR]

([CR] indicates a carriage return)
Contents of [Axis Address] Designated Axis
None, 0, or 00 All axes
NM (N = 1 to 9, M = 1 to 9) Axis address NM
0M (M = 1 to 9) All axes with axis number M
N0 (N = 1 to 9) All axes with group number N
Example:

10SPD12000 [CR] Sets feed speed data of all axes in group 1 to 12000 (×1000 command units/min).
21SPD1000 [CR] Sets feed speed data of axis at address 21 to 1000 (×1000 command units/min).
11MOV40000 [CR] Sets position data of axis at address 11 to 40000 (command units).
00ST [CR] Starts operation at all axes.
4 -11
4.2.2 Reading Data from a SERVOPACK
The SERVOPACK can return data to the host controller based on settings and commands. The
following types of data can be returned.
J Echoback
Echoback returns serially input characters unchanged. It is used to verify the contents of an
input, such as when using a serial terminal to send commands to the SERVOPACK manually.
The echoback function is enabled or disabled by sending the control code [Ctrl-E] (05H). To
enable or disable the echoback function when the SERVOPACK is started, use the following
parameter.
Cn-32 Bit A Enable/Disable Echoback Function at Factory Setting

SERVOPACK Startup
0
Setting Content
4 0 No echoback
1 Echoback
Echoback only functions in a single-axis configuration, and is not available in a multi-axis con-
figuration.
Echoback does not usually apply to control codes, including [Ctrl-E] itself.
[CR](0DH) is converted to [CR](0DH)+[LF](0AH) and echoed back.
Example: Starting SERVOPACK without Echoback Function
Commands SERVOPACK Response Explanation
Control power supply turned ON.
PRM1 [CR] Command input
PRM01 = 0000000000000000 [CR][LF] SERVOPACK response
[Ctrl-E] Echoback enabled
PRM2 [CR] PRM2 [CR][LF] Command input and echoback
[Ctrl-E] Echoback disabled
PRM2 [CR] Command input
4 -12
J Reading SERVOPACK Settings

SERVOPACK settings, such as parameters and tables, will be returned.
The settings will be returned after being set with the PRM, VT, PT or BT command.
Item Reading Specific Settings Reading All Settings
Command Format* [axis_address][comman- [axis_address][command_string][CR]

d_string]
[data_number][CR]
Response Data [data_string][CR][LF] [data_string][CR][LF]

Format [data_string][CR][LF]
.
.
.
[data_string][CR][LF]
Ex.1 Command 11VT10 [CR] 11VT [CR]
SERVOPACK VT010 = 00000001 [CR][LF] VT001 = 00000001 [CR][LF]

Response VT002 = 00000001 [CR][LF]
. 4
.
.
VT512 = 00000001 [CR][LF]
Ex.2 Command PRM13 [CR] PRM [CR]
SERVOPACK PRM13 = +00000001 PRM01 = 0000000010000000 [CR][LF]

Response [CR][LF] PRM02 = 0000000000000000 [CR][LF]
.
.
.
PRM3F = +00000000 [CR][LF]
* When using single-axis configuration, the axis address can be omitted from the command.
4 -13
J Automatic Data Transmission at Events

Automatic data transmissions can be used to notify the user of events, such as positioning
completion and alarms.
This data is sent when an event occurs.
In a single-axis configuration, the data is sent automatically.
In a multi-axis configuration, ERR SN, ERR PN, and ERR OV data is sent automatically only
in the event of an axis-specific command error. It is not sent when multiple axes are designated.
Sending Conditions Commands
Once only after positioning completion COIN [CR][LF]
Once only after positioning near established NEAR [CR][LF]
When an alarm occurs A.xx [CR][LF]

(xx = alarm code)
When a command Command error ERR SN [CR][LF]
4 error occurs (when undefined command is sent)
Number error (when the value of p or pp in ERR PN [CR][LF]

ALMp, MONp or PRMpp, etc., is incorrect)
Data error (when the value of x in PRMpp = ERR OV [CR][LF]

x, VTppp = x, etc., is incorrect)
J SERVOPACK Status Monitor 1

This current position, errors, speed, and I/O contacts can be monitored.
When requested by a command such as MON, IN or OUT, the current monitor data is returned.
Single or continuous transmissions can be set using the following parameter. When continuous
transmissions is selected, the transmissions can be stopped by sending any character to the
SERVOPACK, or by sending a new command.
Cn-32 Bit C Monitor Transmissions Factory Setting

Single/Continuous
0
4 -14
Setting 0 1
Content Single transmission Continuous transmissions
Explanation Monitor data is sent once The most recent monitor data is sent continu-
only upon receiving a moni- ously after receiving a monitor command.
tor command. [CR][LF] is [LF] is not added to the data string.
output after the data string.
S Automatic Data Transmission
When data is sent automatically during
continuous transmissions of monitor data,
[LF] is sent before the automatic data
transmission. After the automatic data
transmission, [CR][LF] is output as usual.
S Monitor data is sent until any character,
such as a subsequent command, is input.
Once a character is input, any data string
currently being transmitted will be sent,
followed by [CR][LF], terminating con-
tinuous transmissions.
Response Data [data_string][CR][LF] [data_string][CR]

Format [data_string][CR]
.
4
.
.
[data_string][CR]
[LF] COIN [CR][LF]
[data_string][CR]
.
.
.
[data_string][CR][LF]
Ex. Command 11MON0 [CR] 11MON0 [CR]
SERVOPACK NFB = +00000 [CR][LF] NFB = +00400 [CR]

Response NFB = +00401 [CR]
.
.
.
NFB = +00003 [CR]
NFB = +00001 [CR]
[LF] COIN [CR][LF]
NFB = +00000 [CR]
.
.
.
NFB = +00000 [CR][LF]
4 -15
J SERVOPACK Status Monitor 2

The current alarm status, alarm history, and the SERVOPACK operating status (motor ON/
OFF status, positioning status, etc.) can be monitored.
When requested by an ALM command, the current status is returned once only.
Command Function SERVOPACK Status Returned Contents
ALM Requests SERVOPACK status. When motor is OFF BB[SP][SP][CR][LF] ([SP]

refers to a single space char-
acter)
When motor is ON RUN [SP][CR][LF]
When motor is running TURN [CR][LF]
Positioning completed COIN [CR][LF]
Positioning near NEAR [CR][LF]
During feed hold HOLD [CR][LF]
4 When overtravel occurs P-OT [CR][LF]

N-OT [CR][LF]
When alarm occurs A.xx (where xx is the alarm

code)[CR][LF]
ALMp Requests alarm trace back (content of pth previous alarm). Ap-A.xx [CR][LF]
(p = 0 to 9) If p = 0, the current alarm status is requested. Indicates that the pth pre-
vious alarm code is xx.
The SERVOPACK stores up to nine previous alarms.
When p = 0, xx is the cur-
If an alarm had occurred previously when power to the SERVOPACK is rent alarm code.
turned ON, the alarm code A.99 (the alarm code signifying that there is
no alarm) is stored in memory.
Note: In this case, the command spelling is the same for the normal mode and fixed length mode.
4 -16
4.3 Using Fixed Length Mode
Fixed length mode is selected with 2SW. For an explanation of 2SW, refer to 4.1.3 Baud Rate and
Command Length Mode Settings.
In fixed length mode, the length of commands and the SERVOPACK responses are fixed at three
characters, and a checksum is added. Also, communications errors are classified in more detail than
in normal mode.
Fixed length mode is used when sending serial commands from a personal computer or a Serial
I/O Module of a PLC, and stricter error checking is required.
4.3.1 Calculating the Checksum
The checksum in fixed length mode is calculated by changing the sum of each character code
into a hexadecimal number, the lower byte of the number is added to the command as two char-
acters.
Example: SERVO ON command (SON) 4

SONF0
The character code of “S” is 83 (53 Hex), the character code of “O” is 79 (4F Hex), and the
character code of “N” is 78 (4E Hex), the checksum of the SON command is thus 83 + 79 +
78 = 240. 240 is F0 Hex. The checksum F0 will be added to the command SON.
When the hexadecimal value of the checksum is 100 Hex or greater, only the lower two digits
of the checksum are added. For example, if the checksum is 1234 Hex, 34 will be added.
The checksum calculation ignores the parity bit.
4.3.2 Handling Communications Errors
The SERVOPACK generates the following error codes when communicating in fixed length
mode.
Error Name Error Code
Communications error E1
Command error E2
Number error E3
Data error E4
A communications error will occur for a checksum error, a parity error, an overrun error, or
a framing error.
Command errors, number errors, and data errors occur under the same conditions as ERR SN,
ERR PN, and ERR OV in normal mode. Refer to 4.2.2 Reading Data from a SERVOPACK.
4 -17
4.3.3 Data Sent from the SERVOPACK
J Outputting SERVOPACK Communications Errors

When a communications error is detected, the SERVOPACK outputs the error as described be-
low.
The 7-segment LED displays “E.” and /ERR = L, /AL3 = L, /AL2 = L, /AL1 = L, and /AL0
= H. For a single-axis configuration, the automatic data transmission ERRxx**[CR][LF] (un-
derlined portion represents checksum) that indicates the error will be output from the serial
port. For a multi-axis configuration, the SERVOPACK that detected the error will output three
characters of a brake signal from the serial port.
Output Device Output for Communications Error
7-segment LED E.
Contact Output /AL0 (6CN-6) H
/AL1 (6CN-7) L
/AL2 (6CN-8) L
4 /AL3 (6CN-9) L
/ERR (6CN-27) L
Serial Output Single-axis Configuration (Auto- ERRxx**[CR][LF] (underlined portion rep-

matic Data Transmission) resents checksum)
Multi-axis Configuration Three characters of brake signal
J Clearing Communications Errors

A communications error is cleared if any of the following occurs.
D A normal command is received.

D Power to the SERVOPACK is turned ON again.
D The SERVOPACK is reset.
4.3.3 Data Sent from the SERVOPACK
In the following explanation, underlined portions indicate the checksum.
J Automatic Data Transmission

In a single-axis configuration, the data automatically output by the SERVOPACK is as shown
below.
SERVOPACK State Automatically Sent Data
Positioning complete CINDA [CR][LF]
Positioning near NERE5 [CR][LF]
4 -18
SERVOPACK State Automatically Sent Data
Normal command OK.C8 [CR][LF]
Alarm occurred ALMxx** [CR][LF]
Error occurred ERRxx** [CR][LF]
Forward overtravel POTF3 [CR][LF]
Reverse overtravel NOTF1 [CR][LF]
Stored positive stroke limit overtravel PLSEF [CR][LF]
Stored negative stroke limit overtravel NLSED [CR][LF]
J Responses to Commands
The responses to commands are shown below. For commands not shown below, normal mode
responses with a checksum will be returned.
Command and SERVOPACK States Response

4
ALM Command Servo OFF and no alarm BLKD9 [CR][LF]
Servo ON and positioning completed CINDA [CR][LF]
Servo ON and positioning near NEAE5 [CR][LF]
Servo ON and motor rotating TRNF4 [CR][LF]
Servo ON and feed hold HLDD8 [CR][LF]
Servo ON and none of the above RUNF5 [CR][LF]
Forward overtravel POTF3 [CR][LF]
Reverse overtravel NOTF1 [CR][LF]
Forward stored stroke limit exceeded PLSEF [CR][LF]
Reverse stored stroke limit exceeded NLSED [CR][LF]
Alarm occurred ALMxx** [CR][LF]
Error occurred ERRxx** [CR][LF]
ALMp Command ALMp = xx** [CR][LF]
PTB, PTBppp Command PTBppp = ±nnnnnnnn** [CR][LF]
VTB, VTBppp Command VTBppp = nnnnnn** [CR][LF]
BTB, BTBppp Command BTBppp = ±nnnnnnnn** [CR][LF]
4 -19
4.4.1 List of Commands
4.4 Serial Commands for Settings and Monitoring
It is possible to set parameters and tables using serial commands, and to monitor the state of the
SERVOPACK.
For information on serial commands relating to motor operation, refer to 3.6 Automatic Mode: Seri-
al Communications.
Note: ”Read” in the descriptions of the servo commands means that the SERVOPACK will re-
turn the data requested by the command. The returned data must be processed as required
in the host application program.
Type Normal Mode Meaning
Fixed Length Mode
4 Parameters PRM Reads all parameters.
PRM
PRMpp Reads parameter number pp.
PRMpp
PRMpp = (±)nnnnnnnn Changes parameter pp to (±)nnnnnnnn.
PRMpp = (±)nnnnnnnn
TRMpp = (±)nnnnnnnn Changes parameter pp to (±)nnnnnnnn temporarily.
TRMpp = (±)nnnnnnnn
4 -20
Fixed Length Mode
Tables PT Reads all position table settings.
PTB
PTppp Reads position table setting at ppp (where ppp is the

n mber in the table)
number table).
PTBppp
PTppp = (±)nnnnnnnn Changes the position table setting of ppp to

( )nnnnnnnn ((where
(±)nnnnnnnn here ppp is the nnumber
mber in the table)
table).
PTBppp = (±)nnnnnnnn
VT Reads all speed table settings.
VTB
VTppp Reads speed table setting of ppp (where ppp is the

number table).
VTBppp
VTppp = nnnnnn Changes the speed table setting of ppp to nnnnnn

( here ppp is the nnumber
(where mber in the table)
table).
VTBppp = nnnnnn
BT Reads all boundary table settings.

4
BTB
BTppp Reads boundary table settings of ppp (where ppp is the

number table).
BTBppp
BTppp = (±)nnnnnnnn Changes the boundary table settings of ppp to

( )nnnnnnnn ((where
(±)nnnnnnnn here ppp is the nnumber
mber in the table)
table).
BTBppp = (±)nnnnnnnn
Saving Data SAVE Copies and saves the parameters and table settings
from back
back-up
p memor
memory to flash memor
memory.
SAV
LOAD Reads the parameters and table settings from flash

memor into back-up
memory back p memor
memory.
LOD
INIT Initializes the parameters and table settings in back-up

memor
memory.
INT
4 -21
Fixed Length Mode
Monitoring MONn Reads monitor data, such as the current position, error,
speed and I/O stat
speed, status.
s
MONn
MTY Reads the SERVOPACK capacity.
MTY
YSP Reads the Y specification (a special specification) of

the SERVOPACK.
SERVOPACK The Y specification of a standard
YSP product is 0.
ALM Reads the current operational status.
ALM
ALMp Reads the pth previous alarm data (p = 0 to 9). When p

= 0,
0 the ccurrent
rrent alarm data is sent.
sent
ALMp
ATC Deletes alarm data.
4 ATC
4 -22
4.4.2 Command Details
Note: ”Read” in the descriptions of the servo commands means that the SERVOPACK will re-
turn the data requested by the command. The returned data must be processed as required
in the host application program.
J Parameter Manipulation Commands
Command Function and Contents

(Examples Apply to Normal Mode)
Top line: Normal
Bottom line: Fixed
length
PRM This command reads all the parameters from the SERVOPACK.
PRM
Example:
Command Response from SERVOPACK

PRM → PRM01 = nnnnnnnn
PRM02 = nnnnnnnn
................ 4
PRM3F = nnnnnnnn
PRMpp This command reads the contents of parameter pp from the SERVOPACK.
PRMpp
Used to check the contents of a particular parameter.
pp = 01 to 3F
Example:

PRM30 → PRM30 = nnnnnnnn
PRMpp = ±nnnnnnnn This command changes parameter number pp to ±nnnnnnnn. When chang-
PRMpp = ±nnnnnnnn ing to a positive number, “+” can be omitted. When rewriting an offline
parameter, either execute the RES command after this command, or turn
pp = 01 to 3F
OFF and ON the control power supply to apply the new value.
nnnnnnnn = −99999999
to +99999999 (“+” can
be omitted)
TRMpp = ±nnnnnnnn This command temporarily changes online parameter number pp. The com-
TRMpp = ±nnnnnnnn mand syntax is identical to “PRMpp =,” however offline parameters cannot
be changed.
pp = 01 to 3F
When the control power supply is turned OFF and then ON or the RES
command is executed, the settings made by this command revert to those set
to +99999999 (“+” can
with “PRMpp =.”
be omitted)
4 -23
J Table Manipulation Commands

Top line: Normal
PT This command reads all data in the position table from the SERVOPACK.
PTB
Example:

PT → PT001 = ±nnnnnnnn
PT002 = ±nnnnnnnn
................
PT512 = ±nnnnnnnn
PTppp The position data of position number ppp is returned from the
PTBppp SERVOPACK.
ppp = 1 to 512 Example:
4 Command Response from SERVOPACK
PT129 → PT129 = ±00000000
PTppp = ±nnnnnnnn This command changes table position number ppp to ±nnnnnnnn. When
PTBppp = ±nnnnnnnn changing to a positive number, “+” can be omitted. Either execute the
RES command after this command, or turn OFF and ON the control pow-
ppp = 1 to 512
er supply to apply the new value. (Unit: Command unit)
to +99999999 (“+” can be
omitted)
VT This command reads all data in the speed table from the SERVOPACK.
VTB
Example:

VT → VT001 = nnnnnn
VT002 = nnnnnn
................
VT512 = nnnnnn
VTppp The speed data of position number ppp is returned from the
VTBppp SERVOPACK.
ppp = 1 to 512 Command Response from SERVOPACK
VT129 → VT129 = 000001
VTppp = nnnnnn This command changes speed table position number ppp to nnnnnn. Ei-
VTBppp = nnnnnn ther execute the RES command after this command, or turn OFF and ON
the control power supply to apply the new value. (Unit: × 1000 command
ppp = 1 to 512
unit/min.)
nnnnnn = 1 to 240000
4 -24

Top line: Normal
BT This command reads all boundary positions from the SERVOPACK.

BTB
Example:

BT → BT001 = ±nnnnnnnn
BT002 = ±nnnnnnnn
................
BT511 = ±nnnnnnnn
BTppp The boundary position of boundary number ppp is returned from the
BTBppp SERVOPACK.
ppp = 1 to 511 Example:

BT129 → BT129 = ±00000000
4
BTppp = ±nnnnnnnn This command changes boundary position number ppp to ±nnnnnnnn.
BTBppp = ±nnnnnnnn When changing to a positive number, “+” can be omitted. (Unit: Com-
mand unit)
ppp = 1 to 511
Either execute the RES command after this command, or turn OFF and
ON the control power supply to apply the new value.
to +99999999 (“+” can be
omitted) It is necessary to set the boundary position so that BT001 ≤ BT002 ≤
BT003 ≤ ... ≤ BT511. If only BT001 to BT006 are to be used, BT007 to
BT511 are set to +99999999.
4 -25
J Data Management Commands
Command Function and Content

(Examples apply to normal mode)
Top line: Normal
SAVE Writes data from parameters, position tables, speed tables, and bound-
SAV ary tables to flash memory.
S The data is stored in memory that has a battery back-up, so if the
battery voltage is too low when the control power supply is turned
OFF, the data may be lost.
S By storing data in flash memory with this command, the data can be
restored even if the back-up battery voltage is insufficient when
power is turned OFF.
S During SAVE command execution, do not turn OFF the control
power supply or reset. The data may not be written normally.
LOAD Reads the data stored in the flash memory by the SAVE command into
LOD the back-up memory.
S Data stored in the back-up memory before the LOAD command
4 was executed is overwritten by the data read from the flash memory.
S With the exception of on-line parameters, the data read by the
LOAD command is applied using the RES command, or by turning
OFF and ON the control power supply.
S When the data has not been written normally by the SAVE com-
mand (e.g., when the control power supply turned OFF during
SAVE command execution), do not use the LOAD command. Data
stored in the back-up memory will be lost.
INIT Returns all parameters and table settings to their default values (the
INT factory settings).
S Only the contents of the back-up memory are returned to their ini-
tial values. This command has no effect on flash memory.
Note: During a command error, ERR PN and ERR OV are not indicated.
J Monitoring Commands
Commands Function Response Units

(Normal and Fixed (Normal and Fixed
Length Mode) Length Mode)
MON0 Motor speed NFB = ±nnnnn r/min
MON1 Command speed NRF = ±nnnnnn × 1000 command

units/min
MON2 Torque command TRF = ±nnn %
MON3 Number of pulses from UEP = ±nnnn No. of encoder

phase-U edge pulses (× 4)
MON4 Motor electrical angle EAG = nnn deg
4 -26
Commands Function Response Units

(Normal and Fixed (Normal and Fixed
Length Mode) Length Mode)
MON5 Internal status 1 ST1 = b18b17b16…b0 Bit

(discussed later)
MON6 Internal status 2 ST2 = b7b6b5…b0 Bit

(discussed later)
MON7 Command pulse speed PRF = ±nnnnn × 1000 command

units/min.
MON8 Position error PER = ±nnnnnnnn Command unit
MON9 Command counter RCN = nnnnn Command unit
MONA Internal status 3 IN1 = b11b10b9…b0 Bit

(described later)
MONB Internal status 4 IN2 = b15b14b13…b0 Bit

(described later)
MONC Internal status 5

(described later)
OU1 = b13b12b11…b0 Bit 4
MOND DG-SW setting DS1 = ±nnnnnnnn Command unit
(position command)
MONE DG-SW setting DS2 = nnnnnn × 1000 command

(speed command) units/min
MONF Current position PUN = ±nnnnnnnn Command unit
Note: “DG-SW” refers to digital switch.
Bit Indications: Internal Status 1 (MON5)
Bit When Set to 0 When Set to 1
b0 /ALM (1CN-22, 23) = L (Contact ON) /ALM (1CN-22, 23) = H (Contact OFF)
b1 Dynamic brake is not operating Dynamic brake is operating
b2 Forward rotation mode Reverse rotation mode
b3 Motor rotating (Contact ON) Motor stopping (Contact OFF)
b4 Positioning not completed Positioning completed
b5 Speed loop PI control Speed loop P control
b6 /P-CL (1CN-33) = L (ON) /P-CL (1CN-33) = H (OFF)
b7 /N-CL (1CN-34) = L (ON) /N-CL (1CN-34) = H (OFF)
b8 Base block in progress Motor ON
b9 Phase A of PG = L Phase A of PG = H
4 -27
Bit When Set to 0 When Set to 1
b10 Phase B of PG = L Phase B of PG = H
b11 Phase C of PG = L Phase C of PG = H
b12 Phase U of PG = L Phase U of PG = H
b13 Phase V of PG = L Phase V of PG = H
b14 Phase W of PG = L Phase W of PG = H
b15 /S-ON (1CN-28) = L (ON) /S-ON (1CN-28) = H (OFF)
b16 /P-CON (1CN-29) = L (ON) /P-CON (1CN-29) = H (OFF)
b17 P-OT (1CN-30) = L (ON) P-OT (1CN-30) = H (OFF)
b18 N-OT (1CN-31) = L (ON) N-OT (1CN-31) = H (OFF)
Bit Indications: Internal Status 2 (MON6)
4 Bit When Set to 0 When Set to 1
b0 CA = L, /CA = H CA = H, /CA = L
b1 CB = L, /CB = H CB = H, /CB = L
b2 CC = L, /CC = H CC = H, /CC = L
b3 Current is not restricted Current is restricted (Contact ON)

(Contact OFF)
b4 Brake is applied (Contact OFF) Brake is released (Contact ON)
b5 No overload warning (Contact OFF) Overload warning (Contact ON)
b6 Main circuit power is OFF Main circuit power is ON.
b7 Servo not ready (Contact OFF) Servo ready (Contact ON)
Bit Indications: Internal Status 3 (MONA)
Bit When monitor bit is 0, contact is ON and input is low.
When monitor bit is 1, contact is OFF and input is high.
b0 /ZRN (6CN-13)
b1 /MAN (6CN-14)
b2 /PULS (6CN-15)
b3 /MCW (6CN-16)
b4 /MCCW (6CN-17)
b5 /RST (6CN-18)
4 -28
b6 /SP2RD (6CN-19)
b7 SP3RD (6CN-20)
b8 /LPG (6CN-21)
b9 /AST (6CN-22)
b10 /ALMRST (6CN-23)
b11 /STOP (6CN-24)
Bit Indications: Internal Status 4 (MONB)
b0 /CD0 (6CN-33) 4
b1 /CD1 (6CN-34)
b2 /CD2 (6CN-35)
b3 /CD3 (6CN-36)
b4 /CD4 (6CN-37)
b5 /CD5 (6CN-38)
b6 /CD6 (6CN-39)
b7 /CD7 (6CN-40)
b8 /CD8 (6CN-41)
b9 /CD9 (6CN-42)
b10 /CD10 (6CN-43)
b11 /CD11 (6CN-44)
b12 /DR0 (6CN-45)
b13 /DR1 (6CN-46)
b14 /PS0 (6CN-47)
b15 /PS1 (6CN-48)
4 -29
Bit Indications: Internal Status 5 (MONC)
Bit When monitor bit is 0, contact is ON and output is low.
When monitor bit is 1, contact is OFF and output is high.
b0 /AUT-LT (6CN-2)
b1 /MAN-LT (6CN-3)
b2 /POS1 (6CN-4)
b3 /POS2 (6CN-5)
b4 /AL0 (6CN-6)
b5 /AL1 (6CN-7)
b6 /AL2 (6CN-8)
b7 /AL3 (6CN-9)
b8 /ERR (6CN-27)
4 b9 /P0 (6CN-28)
b10 /P1 (6CN-29)
b11 /P2 (6CN-30)
b12 /P3 (6CN-31)
b13 /P4 (6CN-32)
4 -30
4.5 Communications Specifications
4.5 Communications Specifications
4.5.1 Hardware Specifications
The serial communications specifications of the SERVOPACK are shown below.
Item Specifications
Applicable Standard RS-422A
Communications Method Asynchronous (ASYNC)
Baud Rate 1200 to 38400 bps (Initial setting: 38400 bps)

Set using rotary switch 2SW.
Start Bits 1 bit
Data Bits 7 bits, JIS 7 bits (JIS X0201, formerly C6220)
Parity 1 bit, even

4
Stop Bits 1 bit
Flow Control XON/XOFF control
Structure of 1 Character
Data sequence
TXD or RXD
0 0 1 0 1 0 1 1 0 1 Stop bit
Start bit Even parity
Data
4 -31
4.5.3 Transmission/Reception Timing
4.5.2 Communications Control Codes
The control codes that can be used in serial communications with the SERVOPACK are shown
below.
Control Code Content
DC3 (Ctrl-S, 13H) X-OFF (Stop transmission)
DC1 (Ctrl-Q, 11H) X-ON (Restart transmission)
EXT (Ctrl-C, 03H) Transmission is interrupted while monitor data is being returned from the
SERVOPACK. (To restart, send a monitor command to the SERVOPACK
again.)
ENQ (Ctrl-E, 05H) Enables/disables the echoback function. (The initial state at start-up is de-
termined by bit A of Cn-32. Echoback functions only in a single-axis con-
figuration, and cannot be used in a multi-axis configuration.)
SOH (Ctrl-A, 01H) Initializes the serial command buffer. All input after the final [CR] is void.
4
4.5.3 Transmission/Reception Timing
S T CR
(Command)
ST
C O I N CR LF
(Automatically sent data)
COIN
Start-up delay
Speed 2 to 4.5 ms
4 ms
Positioning
completed t
0
4 -32
5
Using the Digital Operator
This chapter describes the basic operation of the Digital Operator and the
convenient features it offers.
All parameter settings and motor operations are possible by simple, conve-
nient, operation.
Operate the Digital Operator as you read through this chapter.
5
5.1 Basic Operation . . . . . . . . . . . . . . . . . . . . . . 5-2
5.1.1 Connecting the Digital Operator . . . . . . . . . . . . . 5-2
5.1.2 Digital Operator Functions . . . . . . . . . . . . . . . . . . 5-3
5.1.3 Resetting Servo Alarms . . . . . . . . . . . . . . . . . . . . 5-4
5.1.4 Basic Functions and Mode Selection . . . . . . . . . 5-5
5.1.5 Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.1.6 Parameter Setting Mode . . . . . . . . . . . . . . . . . . . . 5-8
5.1.7 Position Table Setting Mode . . . . . . . . . . . . . . . . . 5 - 12
5.1.8 Speed Table Setting Mode . . . . . . . . . . . . . . . . . . 5 - 14
5.1.9 Boundary Table Setting Mode . . . . . . . . . . . . . . . 5 - 15
5.1.10 Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 17
5.2 Practical Operation . . . . . . . . . . . . . . . . . . . 5 - 24
5.2.1 Operation in Alarm Trace-back Mode . . . . . . . . . 5 - 24
5.2.2 Operation Using the Digital Operator . . . . . . . . . 5 - 27
5.2.3 Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 30
5.2.4 Clearing Alarm Trace-back Data . . . . . . . . . . . . . 5 - 36
5.2.5 Checking the SERVOPACK Specifications . . . . 5 - 38
5.2.6 Checking the Software Version . . . . . . . . . . . . . . 5 - 39
5.2.7 Adjusting the Current Detection Offset Manually 5 - 40
5.2.8 Setting the Machine Zero Point . . . . . . . . . . . . . . 5 - 42
5.2.9 Saving Backup Data . . . . . . . . . . . . . . . . . . . . . . . 5 - 45
5.2.10 Reading Backup Data . . . . . . . . . . . . . . . . . . . . . . 5 - 47
5.2.11 Initializing Backup Data . . . . . . . . . . . . . . . . . . . . . 5 - 49
5 -1
5.1.1 Connecting the Digital Operator
5.1 Basic Operation
This section describes the basic operations using the Digital Operator.
5.1.1 Connecting the Digital Operator
The Digital Operator is available as two models: JUSP-OP02A-1 (Hand-held) and JUSP-
OP03A (Mounted).
Each model is connected to the SERVOPACK as shown below.
JUSP-OP02A-1 (Hand-held) JUSP-OP03A (Mounted)
5 Attach directly on
the SERVOPACK
Connect using the 1 m

cable supplied.
SERVOPACK
5 -2
5.1 Basic Operation
5.1.2 Digital Operator Functions
The Digital Operator allows the user to set parameters, send commands, and display operating
status.
This section describes the key names and functions of the Digital Operator in the initial display
status.
Hand-held Digital Operator
Key Name Function
RESET Key Press to reset the servo alarm.
DSPL DSPL/SET Key Press to select the status display mode,

SET
setting mode, monitor mode, or error
trace-back mode.
Used to select data in setting mode.
DATA DATA/ENTER Key Press to display the parameter settings

ENTER
and set values.
Value Increment/ Press to increment the set value.

Change/
Jog Keys
Forward
Jog Key
Used as a forward start key during
jogging.
5
Decrement/ Press to decrement the set value.
Reverse Used as a reverse start key during jog-
Jog Key ging.
Digit Digit Press to select the digit to be changed.

Selection Down Key The selected digit flashes.
Keys
The cursor moves right
g one digit
g
Digit Up when the Digit Down Key is pressed.
Key The cursor moves left one digit when
the Digit Up Key is pressed.
JOG
SVON Key Press to jog using the Digital Opera-
SVON tor.
5 -3
5.1.3 Resetting Servo Alarms
Mounted Digital Operator
Key Name Function
UP UP Key Press to display the parameter settings and set

values.
Pressing the UP Key increments the set value.
Pressing
P i ththe DOWN K
Key ddecrements
t the
th sett
DOWN DOWN Key value.
Servo alarms can be reset by pressing the UP
Key and DOWN Key simultaneously.
MODE/SET MODE/SET Key Press to select the status display mode, setting
mode, monitor mode, or error trace-back
mode.
DATA DATA Key Press to display the parameter settings and set
values.
Can be used as a data setting key in the set-
ting mode.
5.1.3 Resetting Servo Alarms
5 Servo alarms can be reset using the Digital Operator.
Alarms can also be reset using the 6CN-23, /ALMRST input signal.
If the control power supply is turned OFF, the servo alarm need not be reset. Be sure to elimi-
nate the cause of the alarm before resetting it.
For Hand-held Digital Operator, press the RESET Key to reset.
For Mounted Digital Operator, press the UP Key and DOWN Key simultaneously to reset.
5 -4
5.1 Basic Operation
5.1.4 Basic Functions and Mode Selection
Digital Operator operation allows operation status display, parameter setting, operating com-
mand, and auto-tuning operations.
The basic modes are the status display mode, parameter setting mode, position table setting
mode, speed table setting mode, boundary table setting mode, monitor mode, and alarm trace-
back mode. When the key is pressed, the next mode in the sequence is selected.

Press the DSPL/SET Key.
The basic mode is switched.

Press the MODE/SET Key.
The basic mode is switched.
Power ON
5
Status Display Mode → See 5.1.5.
Special Modes
Parameter Setting Mode → See 5.1.6. (See next page)
Position Table Setting Mode → See 5.1.7.
Speed Table Setting Mode → See 5.1.8.
Boundary Table Setting Mode → See 5.1.9.
Monitor Mode → See 5.1.10.
Alarm Trace-back Mode → See 5.2.1.
5 -5
5.1.5 Status Display Mode
Special Modes
Set a value for parameter Cn-00 to change the sub-mode.
Hand-held Digital Operator: Press the DATA/ENTER Key.
Mounted Digital Operator: Press the DATA Key.
Cn-00 Overview Cn-00 Overview

Setting Setting
Operation using the Digital Current detection offset manu-

Operator (see 5.2.2) al adjustment mode (see 5.2.7)
Clearing alarm trace-back data Machine machine zero point

(see 5.2.4) setting mode (see 5.2.8)
SERVOPACK specification Backup data save mode (see

check mode (see 5.2.5) 5.2.9)
Autotuning mode (see 5.2.3) Backup data read mode (see

5.2.10)
Software version check mode Backup data initialization

(see 5.2.6) mode (see 5.2.11)
5.1.5 Status Display Mode

5
The status display mode displays the SERVOPACK status as bit data and codes.
J Selecting the Status Display Mode

The status display mode is displayed when the power is turned ON. If the status display mode
is not displayed, use the procedure shown in 5.1.4 Basic Functions and Mode Selection to set
the status display mode.
J Display Contents of Status Display Mode

Bit data Code
Positioning
completion
Base block
Power ready
SERVOPACK power ON Motor running
Command being distributed
Bit Data Display Contents
Bit Data Display
SERVOPACK Power ON Lit when SERVOPACK input power ON.

Not lit when input power OFF.
Base Block Lit during base block.

Not lit at servo ON.
5 -6
5.1 Basic Operation
Bit Data Display
Positioning Completion Lit when the error between the position command and the actual motor
position is smaller than the preset value.
Not lit when the error is greater than the preset value.
Preset value: Set in Cn-1B (1 pulse is standard.)
Motor Running Lit when the motor speed is greater than the preset value.
Not lit when the error is smaller than the preset value.
Preset value: Set in Cn-0B (20 r/min is standard.)
Command Being Lit when an operation command is output to the motor.

Distributed Not lit when no operation command is output.
Power Ready Lit when the main circuit power supply is normal.
Not lit when the power supply is OFF or faulty.
Display Codes
Code Status
Motor OFF
Motor ON (when no command is being output)
5
Positioning completed
Positioning near
Motor running
Feed hold
Positive overtravel
Forward stored stroke limit exceeded
Negative overtravel
5 -7
5.1.6 Parameter Setting Mode
Code Status
Reverse stored stroke limit exceeded
Alarm status
Functions can be selected and adjusted by setting parameters. Two types of parameters are
available: Parameter settings and memory switches. The setting method differs for each.
Parameter settings enable the parameter data to be changed within a fixed range. The memory
switches enable the required functions to be selected. A list of the parameters is given in Appen-
dix C.
J Changing Parameter Settings (Parameters Other Than Cn-01, -02,

-26, -29, -32, -33, and -39)
5
Parameters can be adjusted using the following procedure. Check the ranges that can be set
in the list of parameters in Appendix C.
The example below shows the procedure for changing the parameter Cn-15 from 100 to 85.
1. Press the DSPL/SET Key to select the parameter setting mode.
2. Select the parameter number to be set.

The set digit flashes and is changed when the Digit Up Key or Digit Down Key is pressed.
The value of the digit is changed when the Increment Key or Decrement Key is pressed.
3. Press the DATA/ENTER Key.
The current setting for the parameter selected in step 2 is displayed.
4. Set the required value.

The setting is changed when the Increment Key or Decrement Key is pressed.
Press the key until 00085 is displayed.
5 -8
5.1 Basic Operation

The value flashes and is stored.
6. Press the DATA/ENTER Key once more.

The display reverts to the parameter number.
The setting of parameter Cn-15 has been successfully changed from 100 to 85.
To change the setting again, repeat steps 2 to 6.
1. Press the MODE/SET Key to select the setting mode.
2. Press the UP Key or DOWN Key to select the parameter number to be set.
5
3. Press the DATA Key.
The current setting for the parameter selected in step 2 is displayed.
4. Press the UP Key or DOWN Key to change to the required setting of 00085.
Continue pressing the key to change quickly to the next display.
The setting flashes and is stored.
6. Press the DATA Key once more.

The setting of parameter Cn-15 has been successfully changed from 100 to 85.
5 -9
J Changing Memory Switch Settings (Parameters Other Than

Cn-01, -02, -26, -29, -32, -33, and -39)
Functions can be selected by setting the memory switch bits to 0 or 1.
The example below shows the procedure for turning ON bit 4 of the memory switch in parame-
ter Cn-01.

1. Press the DSPL/SET Key to select the setting mode.
2. Select the parameter number to be set.

The value of the digit is changed when the Increment Key or Decrement Key is pressed.
The current settings for the memory switch selected in step 2 are displayed.
Memory switch settings Bit number to be set
5
4. Press the Digit Up Key or Digit Down Key to select the bit number to be set.
Bit number to be set
Bit number
5. Press the Increment Key or Decrement Key to set the memory switch bit to 0 or 1.
0 or 1
Press either key.
To change the setting again, repeat steps 4 and 5.

The stored setting flashes and is stored.
TERMS z Setting Bits to 0 and 1
Memory switches use 16 bits (0 to 9 and A to F), not numbers, to select functions.
Select functions by turning these bits ON (set to 1) or OFF (set to 0).
Set to 0.
Set to 1.
5 -10
5.1 Basic Operation

Bit 4 of the memory switch of parameter Cn-01 has been successfully set to 1.

2. Press the UP Key or DOWN Key to select the parameter number to be set.
The current settings for the memory switches selected are displayed.
Memory switch
settings Bit number to be set
4. Press the UP Key or DOWN Key to select the bit number to be set.
5
Bit number to be set
Bit number
5. Press the MODE/SET Key.

The memory switch setting for the bit number is set to 0 or 1.
0 1
To change the setting, repeat steps 4 and 5.

The setting flashes and is stored.

Bit 4 of the memory switch of parameter Cn-01 has been successfully set to 1.
5 -11
5.1.7 Position Table Setting Mode
5.1.7 Position Table Setting Mode
The position table setting mode enables command positions in the position table to be added
or changed.
J Using the Position Table Setting Mode
1. Press the DSPL/SET Key to select the position table setting mode.
Indicates the position Number in position table

table setting mode.
2. Press the Increment Key or Decrement Key to select the number in the position table to
be added or changed.
The setting for the number in the position table selected in step 2 is displayed.
5
4. Press the Increment Key, Decrement Key, Digit Up Key, or Digit Down Key to add or
change settings.
If the Digit Up Key is pressed when the leftmost digit of the lower digits is flashing, or the
Digit Down Key is pressed when the rightmost digit of the lower digits is flashing, the high-
er digits will be displayed.
If the Digit Up Key is pressed when the leftmost digit of the higher digits is flashing, or
the Digit Down Key is pressed when the rightmost digit of the higher digits is flashing, the
lower digits will be displayed.
The leftmost higher digit is a sign digit, and when it flashes, the sign (plus or minus) can
be set by pressing the Increment Key or Decrement Key.
Setting (lower 4 digits)
Setting (higher 4 digits)
5. Press the DSPL/SET Key to store the setting.

The display reverts to the number in the position table.
5 -12
5.1 Basic Operation
1. Press the MODE/SET Key to select the position table setting mode.
Indicates the position Number in position table

table setting mode.
2. Press the UP Key or DOWN Key to select the number in the position table to be added or
changed.
The setting for the number in the position table selected in step 2 is displayed.
4. Press the MODE/SET Key to select the digits to be set.
Pressing the UP Key or DOWN Key increases or reduces the values of the set digits. Make
sure these match the required set values.
If the MODE/SET Key is pressed when the rightmost digit of the lower digits is flashing,
the higher digits will be displayed.
If the MODE/SET Key is pressed when the rightmost digit of the higher digits is flashing,
the lower digits will be displayed.
The leftmost higher digit is a sign digit, and when it flashes, the sign (plus or minus) can 5
be set by pressing the UP Key or DOWN Key.
5. Press the DATA Key to store the setting.

The display reverts to the number in the position table.
5 -13
5.1.8 Speed Table Setting Mode
5.1.8 Speed Table Setting Mode
The speed table setting mode enables command speeds in the speed table to be added or
changed.
J Using the Speed Table Setting Mode
1. Press the DSPL/SET Key to select the speed table setting mode.
Indicates the speed Number in speed table

table setting mode.
2. Press the Increment Key or Decrement Key to select the number in the speed table to be
added or changed.
The setting for the number in the speed table selected in step 2 is displayed.
5 4. Press the Increment Key, Decrement Key, Digit Up Key, or Digit Down Key to add or
change the settings.

The display reverts to the number in the speed table.
To change the setting again, repeat steps 1 to 6 as required.
5 -14
5.1 Basic Operation
1. Press the MODE/SET Key to select the speed table setting mode.
Indicates the speed Number in speed table

table setting mode.
2. Press the UP Key or DOWN Key to select the number in the speed table to be added or
changed.
The setting for the number in the speed table selected in step 2 is displayed.
5

The display reverts to the number in the speed table.
5.1.9 Boundary Table Setting Mode
The boundary table setting mode enables boundary positions in the boundary table to be added
or changed.
J Using the Boundary Table Setting Mode
1. Press the DSPL/SET Key to select the boundary table setting mode.
5 -15
5.1.9 Boundary Table Setting Mode
Indicates the boundary Number in boundary table

table setting mode.
2. Press the Increment Key or Decrement Key to select the number in the boundary table to
be added or changed.
The setting for the number in the boundary table selected in step 2 is displayed.
4. Press the Increment Key, Decrement Key, Digit Up Key, or Digit Down Key to add or
change the setting.
5 Setting (lower 4 digits)

The display reverts to the number in the boundary table.
1. Press the MODE/SET Key to select the boundary table setting mode.
Indicates the boundary Number in boundary table

table setting mode.
2. Press the UP Key or DOWN Key to select the number in the boundary table to be added
or changed.
5 -16
5.1 Basic Operation

The setting for the number in the boundary table selected in step 2 is displayed.
be set by pressing the UP Key or DOWN Key.

The display reverts to the number in the boundary table.
5
5.1.10 Monitor Mode
The monitor mode enables the command data entered in the SERVOPACK, the I/O signal sta-
tus, and the SERVOPACK internal status to be monitored.
The monitor mode can also be changed while the motor is running.
J Using the Monitor Mode

The example below shows the procedure for displaying the data for monitor number Un-00.
1. Press the DSPL/SET Key to select the monitor mode.
2. Press the Increment Key or Decrement Key to select the monitor number to be displayed.
5 -17
5.1.10 Monitor Mode
The value for the monitor number selected in step 2 is displayed.

Data

The display reverts to the monitor number.
The data for monitor number Un-00 has been successfully displayed.
1. Press the MODE/SET Key to select the monitor mode.
2. Press the UP Key or DOWN Key to select the monitor number to be displayed.
The value for the monitor number selected in step 2 is displayed.
5 Data

The display reverts to the monitor number.
The data for monitor number Un-00 has been successfully displayed.
5 -18
5.1 Basic Operation
J Monitor Mode Displays

The information displayed in the monitor mode is shown below.
Table 5.1 Monitor Displays
Monitor Number Display Contents
Actual motor speed: r/min
Target motor speed ×

1000 command units/min.
Internal torque command % (with respect to

rated torque)
Number of pulses from phase-U edge

(PG pulses × 4)
Motor electrical angle: degrees Internal Status Bit Display

13 10 7 4 1
14 11 8 5 2
Internal status bit display 1 (discussed later)

15 12 9 6 3
16 17 18 19 20
Input command pulse speed × 1000 com-
mand units/min.
5
Position error amount
Units: × 1 command unit (Cn-02 bit E = 0)
× 100 command units
(Cn-02 bit E = 1)
Command pulse counter value

Units: Command units
Displays a value between 0 and 65535.
Digital switch (position data) set value
Digital switch (speed data) set value
Current position (command unit)
5 -19
5.1.10 Monitor Mode
Table 5.2 Bit Displays
Monitor Bit Display Contents

Number Number
Un-05 1 Lit with servo alarm
2 Lit when dynamic brake ON
3 Lit in reverse rotation mode

(Cn-02 bit 0 = 1)
4 Lit during motor rotation
5 Lit at positioning completion
6 Lit during P control by mode switch or P-CON contact
7 Lit during forward current limit
8 Lit during reverse current limit
9 Lit during motor power ON
10 Lit when encoder phase A input = Low level
11 Lit when encoder phase B input = Low level
5 12 Lit when encoder phase C input = Low level
13 Lit when encoder phase U input = Low level*
14 Lit when encoder phase V input = Low level*
15 Lit when encoder phase W input = Low level*
16 Lit when /S-ON contact input = Low level
17 Lit when /P-CON contact input = Low level
18 Lit when P-OT contact input = High level
19 Lit when N-OT contact input = High level
20 None (always OFF)
* Incremental encoder only.
5 -20
5.1 Basic Operation

Number Number
Un-06 1 Lit when command pulse or line PG phase A input = High level*
2 Lit when command pulse or line PG phase B input = High level*
3 Lit when line PG phase C input = Low level
4 Lit during current limit
5 Lit during brake release
6 Lit during overload warning
7 Lit while main circuit power ON
8 Lit during servo ready
9 to 20 None (always OFF)
Un-0A 1 Lit when /ZRN (6CN-13) input = Low level
2 Lit when /MAN (6CN-14) input = Low level
3 Lit when /PULS (6CN-15) input = Low level
4 Lit when /MCW (6CN-16) input = Low level
5 Lit when /MCCW (6CN-17) input = Low level

5
6 Lit when /RST (6CN-18) input = Low level
7 Lit when /SP2ND (6CN-19) input = Low level
8 Lit when /SP3RD (6CN-20) input = Low level
9 Lit when /LPG (6CN-21) input = Low level
10 Lit when /AST (6CN-22) input = Low level
11 Lit when /ALMRST (6CN-23) input = Low level
12 Lit when /STOP (6CN-24) input = Low level
* Lit at low level when bit D of parameter Cn-02 is set to 1.
5 -21
5.1.10 Monitor Mode

Number Number
Un-0B 1 Lit when /CD0 (6CN-33) input = Low level
2 Lit when /CD1 (6CN-34) input = Low level
13 Lit when /DR0 (6CN-45) input = Low level

5 14 Lit when /DR1 (6CN-46) input = Low level
15 Lit when /PS0 (6CN-47) input = Low level
16 Lit when /PS1 (6CN-48) input = Low level
5 -22
5.1 Basic Operation

Number Number
Un-0C 1 Lit when /AUT-LT (6CN-2) output = Low level
2 Lit when /MAN-LT (6CN-3) output = Low level
3 Lit when /POS1 (6CN-4) output = Low level
4 Lit when /POS2 (6CN-5) output = Low level
5 Lit when /AL0 (6CN-6) output = Low level
9 Lit when /ERR (6CN-27) output = Low level
10 Lit when /P0 (6CN-28) output = Low level

5
5 -23
5.2.1 Operation in Alarm Trace-back Mode
5.2 Practical Operation
This section describes how to use the Digital Operator to operate and adjust the motor. Read 5.1
Basic Operation first.
The alarm trace-back mode can display up to 10 previous alarms. It is useful for checking
which alarms occurred, and when.
The alarm trace-back data is not cleared when the alarm is reset or when the SERVOPACK
power is turned OFF. However, this does not affect operation.
The data can be cleared using the special mode, clearing of alarm trace-back mode. Refer to
5.2.4 Clearing Alarm Trace-back Data.
Alarm Sequence Number Alarm Code

5 The higher the number,
the older the alarm
See the Table 5.3 Alarm
Display Contents.
J Checking Alarms
Use the following procedure to check previous alarms.

1. Press the DSPL/SET Key to select the alarm trace-back mode.
Alarm trace-back mode
2. Press the Increment Key or Decrement Key to scroll the sequence numbers up and down.
Previous alarm information is displayed.
The higher the leftmost digit, the older the alarm data.

1. Press the MODE/SET Key to select the alarm trace-back mode.
Alarm trace-back mode
2. Press the UP Key or DOWN Key to scroll the alarm sequence numbers up and down.
Previous alarm information is displayed.
The higher the leftmost digit, the older the alarm data.
5 -24
J Alarm Display Contents

The table below lists the alarms displayed in the alarm trace-back mode.
Refer to 7.2 Troubleshooting.
Table 5.3 Alarm Display Contents
Display Description
(Trace-back Data)
Absolute data error
Parameter breakdown
Parameter setting alarm
Overcurrent
Regenerative alarm
Main circuit voltage alarm
Overspeed 5
Overload (Instantaneous)
Overload (Continuous)
Heat sink overheated
Encoder machine zero point alarm
Absolute encoder back-up alarm
Absolute encoder checksum alarm
Absolute encoder battery alarm

SERVOPACK battery voltage drop alarm
Absolute encoder data alarm
Absolute encoder overspeed alarm
Hardware alarm
5 -25
Display Description
(Trace-back Data)
CPU alarm 1
CPU alarm 2
Servo overrun alarm (This function prevents (minimizes) overrun.)
Encoder output phase alarm
Encoder phase A and B disconnection
Encoder phase C disconnection
Position error pulse overflow
Power line open phase detected
Power failure alarm detected

(detected when power turned ON again during power holding time)
5
Not an alarm.
Indicates normal status.
Displayed when the alarm is reset or when the power is turned ON.
The following are operator-related alarms which are not recorded by alarm trace-back.
Digital Operator communications error 1
Digital Operator communications error 2
5 -26
5.2.2 Operation Using the Digital Operator
Operation from the Digital Operator allows the SERVOPACK to run the motor. This allows
rapid checking of motor rotating direction and setting of the motor speed during machine set-
up and testing, without the trouble of connecting a host controller.
When the motor is operated by the Digital Operator, the motor speed can be changed with a
parameter. The conditions are as follows:
Parameter: Cn-22
Unit: r/min
Factory setting: 300
Refer to 5.1.6 Parameter Setting Mode for the method of setting the motor speed.
Power SERVOPACK
Digital Operator
5
Motor
Use the following procedure to operate the motor from the Digital Operator.

Setting Mode
2. Select parameter Cn-00.

Cn-00 is selected when the power is turned ON.
Press the Digit Up Key or Digit Down Key to select the digits to be set.
Press the Increment Key or Decrement Key to change the value.
The current setting for parameter Cn-00 is displayed.
Data
4. Press the Increment Key or Decrement Key to change the setting to 00.
00-00 is set when the power is turned ON.
5 -27
5.2.2 Operation Using the Digital Operator
5. Press the DSPL/SET Key.

Enter the operation mode from the Digital Operator. Operation is now possible from the
Digital Operator.
6. Press the SVON Key to set the servo ON status (motor turned ON).
7. Press the Increment Key or Decrement Key.

Pressing the motor rotates while the Key is pressed.

of motor of motor

The display reverts to 00-00. This sets the servo OFF status (motor turned OFF).
The SVON Key also sets the servo to OFF.
5

The display reverts to the setting mode.
This ends the operation mode from the Digital Operator.

Setting Mode
2. Press the UP Key or DOWN Key to select parameter Cn-00.

The current setting for parameter Cn-00 is displayed.
Data
5 -28
4. Press the UP Key or DOWN Key to change the setting to 00.

00-00 is set when the power is turned ON.

Enter the operation mode from the Digital Operator. Operation is now possible from the
Digital Operator.

This sets the servo ON status (motor turned ON).
7. Press the UP Key or DOWN Key.

The motor rotates while the Key is pressed.
Forward rotation Reverse rotation 5

of motor of motor

The display reverts to 00-00. This sets the servo OFF status (motor turned OFF).
Pressing the DATA Key also sets the servo to OFF.

This ends the operation mode from the Digital Operator.
5 -29
5.2.3 Autotuning
5.2.3 Autotuning
The SERVOPACK contains a built-in autotuning function to automatically measure the ma-
chine characteristics (machine configuration and machine rigidity) and set the parameters.
Autotuning allows even totally inexperienced people to easily complete the tuning.
Automatically measures the

machine characteristics and
sets the parameters.
Load Inertia
Servomotor Friction
SGDB
SERVOPACK
J Precautions on Autotuning
To perform autotuning, it is necessary to set the speed, machine rigidity, and input signals. In
addition, the SERVOPACK and motor operations differ from normal operations. Before per-
forming autotuning, check the following items:
5 Handling the Stored Stroke Limit

During tuning, the stored stroke limit does not function normally.
The stored stroke limit may not always stop the load at the set position. (P-OT and N-OT func-
tion in the same way as with normal operations.)
Speed Setting During Tuning

The motor speed during tuning is set by parameter Cn-22. Set the speed to 500 r/min.
If the set value is too low, it may not be possible to perform autotuning.
The motor does not run continuously, but intermittently, while the Increment Key or Decre-
ment Key (UP Key or DOWN Key) is held down.
Machine Rigidity Selection

Select the machine rigidity as described below. If the actual rigidity is unknown, select medium
rigidity.
Motor
TERMS z Machine Rigidity
The machine rigidity is one of the machine characteristics related to

servo control. Set the servo to high response for a machine, such as a
machine tool, with high rigidity, and to low response for a machine, High rigidity
such as a robot, with low rigidity. Motor
Low rigidity
5 -30
High Rigidity
Medium Rigidity
Low Rigidity
If the Machine Resonates
When the servo is turned ON with the SVON Key (or DATA Key), or when the motor is oper-
ated by pressing the Increment Key or Decrement Key (UP Key or DOWN Key), machine reso-
nance indicates an inappropriate machine rigidity selection. Re-tune the machine.
1. Press the DSPL/SET Key (or MODE/SET Key) to cancel the tuning.
2. Press the DSPL/SET Key (or MODE/SET Key) once more.

This sets the machine rigidity selection mode. Decrement the machine rigidity number by
one.
If Autotuning Does Not End
Failure of autotuning to end , is caused by an inappropriate machine rigidity set-

ting. Follow the procedure below to correct the machine rigidity selection, and perform auto- 5
tuning once more.
1. Press the DSPL/SET Key (or MODE/SET Key) to cancel the tuning.
2. Press the DSPL/SET Key (or MODE/SET Key) once more.

This sets the machine rigidity selection mode. Increment the machine rigidity number by
one.
Autotuning may not end for machines with large play or extremely low rigidity.
In these cases, use conventional manual tuning referring to Appendix A.
Input Signals
D The P-OT signal and N-OT signal are enabled in autotuning mode.
If these signals are not used, set bits 2 and 3 of parameter Cn-01 to 1.
D Autotuning is not possible during overtravel (P-OT or N-OT signal OFF).
Incorrect
Load
Motor
OFF ON
5 -31
5.2.3 Autotuning
D Perform autotuning when no overtravel has occurred (both P-OT and N-OT signal ON).
Correct
Load
Motor
ON ON
D When performing autotuning, set the P-CON signal to OFF status.

D When using the mode switching function, perform autotuning after performing one of the
following operations:
• Not using mode switching.
• Setting a higher mode switching level.
D If the /S-ON signal is used to set the servo ON status, turn ON the /S-ON signal after
is displayed.
D After checking that the machine can be operated, attach the motor to the machine and per-
form autotuning.
D Check that the P-CON signal is in OFF status (PI control) before performing autotuning.
D To perform autotuning, set the speed control mode to PI control.
5 When the mode switching function is used, P control automatically takes over above the
operating level (mode switch PI control → P control switch level), even if the P-CON sig-
nal is set to OFF. When the mode switching function is used, set the following settings be-
fore performing autotuning:
• Set bit B of parameter Cn-01 to 1 so that mode switching is not used.
• Set a higher operating level (mode switch PI control → P control switch level) so that
P control does not take over.
Use the settings shown below, according to the operating level. Select bit C or D of
Cn-01 as the operating level.
Operating Level Parameter Setting

(Bit C or D of Cn-01)
Torque command (0, 0) Set Cn-0C to the maximum torque.
Speed command (0, 1) Make Cn-0C greater than the set value of Cn-22.
Acceleration (1, 0) Set a maximum value of 3000 for Cn-0C.
Error pulse (1, 1) Set a maximum value of 10000 for Cn-0C.
5 -32
J Parameters Automatically Settable with Autotuning

The three parameters shown below can be set with autotuning.
Cn-04 Speed loop gain
Cn-05 Speed loop integration time constant
Cn-1A Position loop gain
Once autotuning has been completed, the autotuning procedure can be omitted for subsequent
machines, if the machine specifications remain unchanged.
It is sufficient to directly set the parameters for subsequent machines.
The machine rigidity can be selected from one of seven levels.
J Using Autotuning
Follow the procedure below to perform autotuning.

Setting Mode
5

The current setting for the parameter is displayed.
Data
4. Press the Increment Key or Decrement Key to change the setting to 05 as shown below.

The machine rigidity setting is displayed.
Machine Rigidity Display
5 -33
5.2.3 Autotuning
6. Press the Increment Key or Decrement Key to select the machine rigidity.
If the machine rigidity is unknown, select medium rigidity (C-003 to C-005).
7. Press the DSPL/SET Key to select the autotuning mode.
Autotuning Mode
8. Press the SVON Key to turn the servo ON.
9. Press the Increment Key or Decrement Key.


of motor of motor
If “= . End” appears, tuning has been completed.
Autotuning Complete
5 At this point, the servo automatically turns OFF.

If the servo is turned ON or OFF by an external contact signal, turn OFF this contact signal.
10. Release the Increment Key or Decrement Key.
The display changes to 00-05.

Setting Mode Display
The autotuning has now been completed.
5 -34

Setting Mode
2. Press the UP Key or DOWN Key to select parameter Cn-00. Cn-00 is selected when the
power is turned ON.
Data

The machine rigidity setting is displayed.
5
Machine Rigidity Display
6. Press the UP Key or DOWN Key to select the machine rigidity (C-001 to C-007).
7. Press the MODE/SET Key to select the autotuning mode.
Autotuning Mode
8. Press the DATA Key to select the servo ON status.
9. Press the UP Key or DOWN Key.


of motor of motor
If the display below appears, tuning has been completed.
Autotuning Complete
At this point, the servo automatically turns OFF.

If the servo is turned ON or OFF by an external contact signal, turn OFF this contact signal.
5 -35
5.2.4 Clearing Alarm Trace-back Data
10. Release the UP Key or DOWN Key.

The display changes to 00-05.

The autotuning has now been completed.
5.2.4 Clearing Alarm Trace-back Data
This procedure clears the alarm history, which stores the alarms occurring in the SERVOPACK.
When this procedure is performed, each alarm in the alarm history is set to A99, which is not an
alarm code. Refer to 5.2.1 Operation in Alarm Trace-back Mode for details.
Follow the procedure below to clear the alarm trace-back data.
5 Hand-held Digital Operator
Setting Mode


Data
5 -36

The alarm trace-back data is cleared.
Parameter Number
The alarm trace-back data clearing operation has now been completed.

Setting Mode

5
Data

The alarm trace-back data is cleared.
Parameter Number
The alarm trace-back data clearing operation has now been completed.
5 -37
5.2.5 Checking the SERVOPACK Specifications
5.2.5 Checking the SERVOPACK Specifications
This mode is used for maintaining the motor.
When Cn-00 is set to 00-04, this mode is used to check the SERVOPACK specifications.
Use the following procedure to check the SERVOPACK specifications.
1. Set Cn-00 to 00-04.

The SERVOPACK capacity is displayed.
SERVOPACK Capacity Display
SERVOPACK Capacity
05: 0.5 kW 32: 5.0 kW
Motor model 0A: 1.0 kW 3C: 6.0 kW
0: Σ Series 0F: 1.5 kW 4B: 7.5 kW
14: 2.0 kW 6E: 11.0 kW
1E: 3.0 kW 96: 15.0 kW
5 3. Press the DSPL/SET Key.

The special specification (Y specification) is displayed.
Special Specification
(Y Specification) Display
(Hexadecimal notation)
(1) (2) (3) (4)
(1) × 163 + (2) × 162 + (3) × 16 + (4) = special specification (Y specification number)
Checking of the SERVOPACK specifications has now been completed.
1. Set Cn-00 to 00-04.

The SERVOPACK capacity is displayed.
The special specification (Y specification) is displayed.
Checking of the SERVOPACK specifications has now been completed.
5 -38
5.2.6 Checking the Software Version
This mode is used for maintaining the SERVOPACK.
When Cn-00 is set to 00-06, this mode is used to check the software version.
Use the following procedure to check the software version.
1. Set Cn-00 to 00-06.

The main CPU software version is displayed.
Main CPU Software Version Display
Software version number
Main CPU display

The servo CPU software version is displayed. 5
Servo CPU Software Version Display
Software version number
Model b: SGDB
Servo CPU display
Checking of the software version has now been completed.
1. Set Cn-00 to 00-06.

The main CPU software version is displayed.
The servo CPU software version is displayed.
Checking of the software version has now been completed.
5 -39
5.2.7 Adjusting the Current Detection Offset Manually
5.2.7 Adjusting the Current Detection Offset Manually
Current detection offset manual adjustment is performed at Yaskawa before shipping. Basical-
ly, the customer need not perform this adjustment. Perform this adjustment only when highly
accurate adjustment is required in combination with the motor used.
Run the motor at a speed of approximately 100 r/min, and adjust the SERVOPACK until the
torque monitor ripple is minimized. Adjust the phase-U and phase-V offsets alternately several
times until these offsets are well balanced.
Use the follow procedure to perform current detection offset manual adjustment.

Setting Mode

5 Press the Increment Key or Decrement Key to change the value.

Data

The display changes to the current detection offset manual adjustment mode. The amount
of current detection offset is displayed.
6. Press the Digit Up or Digit Down Key.

The display switches between the phase U and phase V.
Phase-U Current Phase-V Current

Adjustment Mode Adjustment Mode
5 -40
7. Press the Increment Key or Decrement Key to adjust the amount of offset.

The current detection offset manual adjustment has now been completed.

Setting Mode

Cn-00 is selected when the power is turned ON. 5

Data

The display changes to the current detection offset manual adjustment mode. The amount
of current detection offset is displayed.
6. Press the DATA Key. The display switches between the phase U and phase V.
Phase-U Current Phase-V Current

Adjustment Mode Adjustment Mode
5 -41
5.2.8 Setting the Machine Zero Point
7. Press the UP Key or DOWN Key to adjust the amount of offset.

The display reverts to the parameter setting.

The current detection offset manual adjustment has now been completed.
When the motor is first connected to the SERVOPACK and the power is turned ON, or when
the battery has been removed for more than four days without the SERVOPACK power being
turned ON, perform the operation shown below after setting up the absolute encoder.
Before performing this operation, either use manual operation mode or pulse train operation
5 mode, or rotate the motor externally and move to the machine zero point (coordinate ±
nnnnnnnn).
Use the following procedure to set the machine zero point.

Setting Mode


Data
5 -42
4. Press the Increment Key or Decrement Key to change the setting to 0A.

The display changes to the machine zero point setting mode. The machine zero point to
be set is displayed.
6. Press the Digit Up Key or Digit Down Key to select the digits to be set.
If the digit that is currently flashing is at the end of the display area, it is possible to move
from the lower digits to the higher digits, or from the higher digits to a lower digits by
pressing the Digit Up Key or Digit Down Key in the direction away from this digit.
Higher Digits Lower Digits
7. Press the Increment Key or Decrement Key to set the machine zero point.
8. Press the DSPL/SET Key. 5

The machine zero point setting has now been completed.

Setting Mode

5 -43

Data
4. Press the UP Key or DOWN Key to change the setting to 0A.

The display changes to the machine zero point setting mode. The machine zero point to
be set is displayed.

If the DOWN Key is pressed when the rightmost lower digit flashes, the higher digits are
displayed.
If the DOWN Key is pressed when the rightmost higher digit flashes, the lower digits are
displayed.
5 The leftmost higher digit is a sign digit, and when it flashes, a sign (plus or minus) can be
set by pressing the Increment Key or Decrement Key.
Higher Digits Lower Digits
7. Press the DOWN Key to select the digit, and press the UP Key to set the value for this digit.

The machine zero point setting has now been completed.
5 -44
5.2.9 Saving Backup Data
The SERVOPACK backup data consists of parameters, table data, and absolute encoder posi-
tion data. Because the data and parameters are stored in the battery backup memory, they may
be deleted due to battery consumption. If the following operation performed after setting the
backup data, the backup data can be saved to nonvolatile memory.
Use the following procedure to save the backup data.

Setting Mode

5
Data
4. Press the Increment Key or Decrement Key to change the setting to 0b.

The display changes to the backup data save mode.

When the backup data has been written to nonvolatile memory, “End” is displayed. Do not
turn OFF the SERVOPACK control power until “End” is displayed. Also, if the DATA/EN-
TER Key is pressed in the parameter save mode, the data is not saved and the display re-
verts to the parameter setting.
5 -45
5.2.9 Saving Backup Data


Parameter Number
The operation for saving the backup data has now been completed.

Setting Mode

5
Data
4. Press the UP Key or DOWN Key to change the setting to 0b.

The display changes to the backup data save mode.

When the backup data has been written to nonvolatile memory, “End” is displayed. Do not
turn OFF the SERVOPACK control power until “End” is displayed. Also, if the DATA Key
is pressed in the parameter save mode, the data is not saved and the display reverts to the
parameter number.
5 -46


Parameter Number
The operation for saving the backup data has now been completed.
5.2.10 Reading Backup Data
If the SERVOPACK backup data has been deleted, or the previously saved status need to be
returned, performing this operation enables the backup data saved to nonvolatile memory to
be read.
Use the following procedure to read the backup data.

5
Setting Mode


Data
4. Press the Increment Key or Decrement Key to change the setting to 0C.
5 -47
5.2.10 Reading Backup Data

The display changes to the backup data read mode.

When the backup data has been read from nonvolatile memory, “End” is displayed. Do
not turn OFF the SERVOPACK control power until “End” is displayed. Also, if the DATA/
ENTER Key is pressed in the parameter read mode, the data is not read and the display
reverts to the parameter setting.


Parameter Number
5
The operation for reading the backup data has now been completed.

Setting Mode


Data
4. Press the UP Key or DOWN Key to change the setting to 0C.
5 -48

The display changes to the backup data read mode.

When the backup data has been read from nonvolatile memory, “End” is displayed. Do
not turn OFF the SERVOPACK control power until “End” is displayed. Also, if the DATA
Key is pressed in the parameter read mode, the data is not read and the display reverts to
the parameter setting.


Parameter Number 5
The operation for reading the backup data has now been completed.
5.2.11 Initializing Backup Data
This operation makes it possible to return the current backup data to the factory-set backup
data.
Use the following procedure to initialize the backup data.

Setting Mode

5 -49
5.2.11 Initializing Backup Data

Data
4. Press the Increment Key or Decrement Key to change the setting to 0d.

The display changes to the backup data initialization mode.

When the backup data in the battery backup memory has been returned to the factory set-
ting, “End” is displayed. Do not turn OFF the SERVOPACK control power until “End”
is displayed. Also, if the DATA/ENTER Key is pressed in the battery backup data initial-
ization mode, the data is not initialized and the display reverts to the parameter number.
5

Parameter Number
The operation for initializing the backup data has now been completed.

Setting Mode

5 -50

Data
4. Press the UP Key or DOWN Key to change the setting to 0d.

The display changes to the backup data initialization mode.

When the backup data in the battery backup memory has been returned to the factory set-
ting, “End” is displayed. Do not turn OFF the SERVOPACK control power until “End”
is displayed. Also, if the DATA Key is pressed in the battery backup data initialization
mode, the data is not initialized and the display reverts to the parameter setting.
5

Parameter Number
The operation for initializing the backup data has now been completed.
5 -51
6
Servo Selection and Data Sheets
This chapter describes how to select Σ-Series Servodrives and peripheral

devices.
The section also presents the specifications and dimensional drawings re-
quired for selection and design.
Choose and carefully read the relevant sections of this chapter.
6.1 Selecting a Σ-Series Servo . . . . . . . . . . . . . 6-3

6.1.1 Selecting a Servomotor . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.2 Selecting a SERVOPACK . . . . . . . . . . . . . . . . . . . 6 - 15
6.1.3 Selecting a Digital Operator . . . . . . . . . . . . . . . . . 6 - 17
6
6.2 Servomotor Ratings and Specifications . . 6 - 19
6.2.1 Ratings and Specifications . . . . . . . . . . . . . . . . . . 6 - 19
6.2.2 Mechanical Characteristics . . . . . . . . . . . . . . . . . . 6 - 40
6.3 SERVOPACK Ratings and Specifications 6 - 44

6.3.1 Combined Specifications . . . . . . . . . . . . . . . . . . . 6 - 44
6.3.2 Ratings and Specifications . . . . . . . . . . . . . . . . . . 6 - 50
6.3.3 Overload Characteristics . . . . . . . . . . . . . . . . . . . . 6 - 54
6.3.4 Starting Time and Stopping Time . . . . . . . . . . . . 6 - 55
6.3.5 Load Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 55
6.3.6 Overhanging Loads . . . . . . . . . . . . . . . . . . . . . . . . 6 - 56
6.4 Σ-Series Dimensional Drawings . . . . . . . . . 6 - 57

6.4.1 Servomotor Dimensional Drawings . . . . . . . . . . . 6 - 57
6.4.2 SERVOPACK Dimensional Drawings . . . . . . . . . 6 - 140
6.4.3 Digital Operator Dimensional Drawings . . . . . . . 6 - 151
6.5 Selecting Peripheral Devices . . . . . . . . . . . 6 - 152

6.5.1 Selecting Peripheral Devices . . . . . . . . . . . . . . . . 6 - 152
6.5.2 Order List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 167
6 -1
6.6 Specifications and Dimensional Drawings of

Peripheral Devices . . . . . . . . . . . . . . . . . . . . 6 - 192
6.6.1 Cable Specifications and Peripheral Devices . . 6 - 192
6.6.2 Motor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 196
6.6.3 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 197
6.6.4 Brake Power Supply . . . . . . . . . . . . . . . . . . . . . . . 6 - 218
6.6.5 Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 220
6.6.6 Back-up Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 231
6.6.7 1CN and 6CN Connectors . . . . . . . . . . . . . . . . . . 6 - 232
6.6.8 Connector-Terminal Block Conversion Unit . . . . 6 - 234
6.6.9 Cable with 1CN Connector and One End
without Connector . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 240
6.6.10 Cable with 6CN Connector and One End
without Connector . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 241
6.6.11 Circuit Breaker . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 242
6.6.12 Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 242
6.6.13 Magnetic Contactor . . . . . . . . . . . . . . . . . . . . . . . . 6 - 244
6.6.14 Surge Suppressor . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 246
6.6.15 Regenerative Resistor Unit . . . . . . . . . . . . . . . . . . 6 - 246
6.6.16 External Position Indicator (Model MCIF-L8) . . . 6 - 247
6.6.17 Digital Switch Unit (MCIF-Djj) . . . . . . . . . . . . . 6 - 249
6.6.18 Contact Input Unit (MCIF-R86) . . . . . . . . . . . . . . 6 - 252
6 6.6.19 Manual Pulse Generator (PRET-2C3T/100-M1) 6 - 255
6.6.20 Cables for Connecting Personal Computer and
SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 256
6 -2
6.1 Selecting a Σ-Series Servo
This section describes how to select the Σ-Series Servomotor, SERVOPACK, and Digital Operator.
6.1.1 Selecting a Servomotor
The method of selection differs according to the model of Servomotor. Numbers 1 to 6 in the
following explanation correspond to 1 through 6 in the Flowchart for Servomotor Selection
on following pages.
J Selecting an SGMG, SGMS, or SGMD Servomotor

The following pages provide an explanation of Σ-Series Servomotor models and selection
flowcharts.
6 -3
Models
Each model of Σ-Series Servomotor can be identified by specifying an 8-digit alphanumeric
code following “SGMj-”.
SGMj- 03 A 2 A A j j
Σ-Series
G: SGMG Servomotor
S: SGMS Servomotor
D: SGMD Servomotor
1. Rated output (motor capacity)
03: 0.3kW (0.40HP) 05: 0.45kW (0.60HP) 06: 0.6kW (0.80HP)
09: 0.85kW(1.14HP), 0.9kW(1.21HP) 10: 1.0kW (1.34HP)
12: 1.2kW (1.61HP) 13: 1.3kW (1.74HP) 15: 1.5kW (2.01HP)
20: 1.8kW (2.41HP), 2.0kW (2.68HP) 22: 2.2kW (2.95HP)
30: 2.9kW (3.89HP), 3.0kW (4.02HP) 32: 3.2kW (4.29HP)
40: 4.0kW (5.36HP) 44: 4.4kW (5.90HP) 50: 5.0kW (6.71HP)
55: 5.5kW (7.38HP) 60: 6.0kW (8.05HP) 75: 7.5kW (10.06HP)
1A: 11kW (14.75HP) 1E: 15kW(20HP)
2. Supply voltage
A: 200V
3. Encoder specification
2: 8192 P/R incremental encoder
6: 4096 P/R incremental encoder
W: 12-bit (1024 P/R) absolute encoder
S: 15-bit (8192 P/R) absolute encoder
4. Rated speed
A: SGMG (1500 r/min)
SGMS (3000 r/min)
SGMD (2000 r/min)
B: SGMG (1000 r/min)
6 5. Shaft specification
Blank: Standard (straight without key)
A: Standard (straight without key, only when “options” and “lead specification” columns are not blank)
B: Straight with key and one shaft-end tap
C: Taper 1/10 with parallel key
D: Taper 1/10 with Woodruff key (for G Series 05 and 09 only)
6. Options
Blank: Standard
1: Standard (only when “lead specification” column is not blank)
S: With oil seal
B: With 90 VDC brake
C: With 24 VDC brake
F: With oil seal and 90 VDC brake
G: With oil seal and 24 VDC brake
Lead specification
Blank: Standard (connector)
Flowchart for Servomotor selection
Selected motor model
Example SGMG- 0 9 A 2 A B S
Axis 1 SGM -
Axis 2 SGM -
D D D D D D D Blank for standard specification
6 -4
Flowchart for Servomotor Selection

The actual selection of the SGMG, SGMS or SGMD Servomotor is performed according to
the following flowchart.
Start Servomotor selection
1. Select motor capacity DDD If necessary, refer to the data sheets in

6.2 Servomotor Ratings and Specifications.
D Fill in Machine Data Table
D Select capacity using

Servomotor sizing software. DDD *1
Determine motor capacity

Enter code in the first and second columns.*2
Enter rated output
SGMj-JJ_ _ _ _ _ _
2. Enter supply voltage
Always enter “A” (200 V) in the third column.

6
SGMj-jjA_ _ _ _ _
3. Select encoder specification
The encoder specification differs

4096/8192 P/R according to the motor series.*3
Absolute or incremental encoder
Incremental? SGMj-jjjJ_ _ _ _
12-bit or 15-bit
absolute encoder SGMj-jjjJ_ _ _ _
4. Enter rated speed
a. Model SGMG (1500 r/min), Enter A

Model SGMS, Model SGMD SGMj-jjjjA_ _ _
Enter B
b. Model SGMS (1000 r/min) SGMj-jjjjB_ _ _
To next page (A)
6 -5
From previous page (A)
5. Select shaft specification
a. Straight without key SGMj-jjjjjA _ _

b. Straight with key (with end-shaft
tap) SGMj-jjjjjB _ _
c. Taper 1/10 with parallel key

SGMj-jjjjjC _ _
d. Taper 1/10 with Woodruff key
(for G Series 05 and 09 only) SGMj-jjjjjD _ _
6. Select option specification
With 90 VDC brake

SGMj-jjjjjjB _
a. Under gravity load
With 24 VDC brake
SGMj-jjjjjjC _
With oil seal

b. Oil is used at shaft end SGMj-jjjjjjS _
With oil seal and 90
VDC brake SGMj-jjjjjjF _
c. Gravity load + oil With oil seal and 24
6 VDC brake SGMj-jjjjjjG _
Normally, the last

column is left blank.
End Servomotor selection
*1. Consult your Yaskawa sales representative for further information.

*2. Rated output
Motor capacity (kW)
Series G S D
Code 1500 r/min 1000 r/min 3000 r/min 2000 r/min
03 0.3
05 0.45
06 0.6
09 0.85 0.9
10 1.0
6 -6
Series G S D
Code 1500 r/min 1000 r/min 3000 r/min 2000 r/min
12 1.2
13 1.3
15 1.5
20 1.8 2.0 2.0
22 2.2
30 2.9 3.0 3.0
32 3.2
40 4.0 4.0
44 4.4 4.4
50 5.0
55 5.5
60 6.0
75 7.5
1A 11.0
1E 15.0
6
*3. Encoder specification
Symbol Specifications SGMG SGMS SGMD
2 Incremental encoder: 8192 P/R f f
6 Incremental encoder: 4096 P/R f f
W Absolute encoder: 12 bits (1024 P/R) f f
S Absolute encoder: 15 bits (8192 P/R) f f f
: Standard f: Non-standard
6 -7
J Selecting an SGM or SGMP Servomotor
Models
Each model can be identified by specifying a 7-digit alphanumeric code following either
“SGM-” or “SGMP-” according to the servo system to be used. Numbers 1 to 6 in the explana-
tion below correspond to 1 through 6 in the Flowchart for Servomotor Selection on following
pages.
SGM - 04 A 3 1 2 j
Σ-Series
SGM: SGM servomotor
SGMP: SGMP servomotor (cube type)
1. Rated output (motor capacity)

(common to both SGM and SGMP)
04: 400 W, 08: 750 W
(SGMP only)
15: 1.5 kW
2. Supply voltage
A: 200 V
SGM Servomotor
3. Encoder specification
3 : 2048 P/R incremental encoder
W: 12-bit absolute encoder
6
4. Design revision order
5. Shaft specification
SGMP Servomotor 2: Straight without key
4: Straight with key
6: Straight with key and tap
6. Options
B: With brake S: With oil seal
D: With brake and oil seal P: Drip-proofed
Flowchart for Servomotor selection
Selected Motor Model
Example SGM- 0 4 A W 1 4 B
Axis 1 SGM-
Axis 2 SGM-
D D D D D D D
6 -8
Flowchart for Servomotor Selection

The actual selection of SGM or SGMP Servomotors is made according to the following flow-
chart.
If an SGMP Servomotor is selected, replace “SGM” with “SGMP.”
Start Servomotor selection
1. Select motor capacity D D D If necessary, refer to the data sheets in

6.2 Servomotor Ratings and Specifications.
D Fill in Machine Data Table
D Select capacity using

Servomotor sizing software. DDD *
If 400 W, enter “04” in the first and second

Determine motor capacity columns.
If 750 W, enter “80” in the first and second
columns.
If 1.5 kW, enter “15” (SGMP only) in the first
and second columns.
Enter rated output
SGM-JJ_ _ _ _ _
6
2. Enter supply voltage
Always enter “A” (200 V) in the third column.

SGM-jjA_ _ _ _
3. Select encoder specification
Enter 3
a. 2048 P/R incremental encoder SGM-jjj3 _ _ _
b. 12-bit absolute encoder Enter W SGM-jjjW _ _ _
4. Enter design revision order
Always enter “1” in the fifth column.

SGM-jjjj1 _ _
To next page (A)
6 -9
From previous page (A)
5. Select shaft specification
Straight without key

With/without key? SGM-jjjjj2_
Straight with key
SGM-jjjjj4_
6. Selection option specification
a. Under gravity load With brake SGM-jjjjjjB
b. Oil is used at shaft end With oil seal

SGM-jjjjjjS
With brake and
c. Gravity load + oil oil seal SGM-jjjjjjD
d. Subject to water droplets Drip-proofed

SGM-jjjjjjP
End Servomotor selection
6 * Consult your Yaskawa sales representative for further information.
6 -10
Machine Data Table

Fill out the machine data table below as an aid to selecting the drive system. When the machine
data table is complete, use the servomotor sizing software to select the motor capacity.
Table 6.1 Machine Data Table
Ball Screw Horizontal Axis
*1 Load mass W kg (lb)
Thrust F kg (lb)
Coefficient of friction µ
Overall efficiency η Table W
Motor
*2 Gear ratio R (= Nm/Nℓ)
Ball screw
Gear+coupling
*3 Gear+coupling GD2g kg¡cm2 GD2g
(lb¡in2.)
Ball screw pitch P mm (in.)
Ball screw diameter D mm (in.)
Ball screw length L mm (in.)
Ball Screw Vertical Axis
Load mass W1 kg (lb)
Counterweight W2 kg (lb) Motor 6

Coefficient of friction µ Gear+coupling
GD2g
Overall efficiency η
Gear ratio R (= Nm/Nℓ)

Ball screw
Gear+coupling GD2g kg¡cm2
(lb¡in2.)
Ball screw pitch P mm (in.)
Ball screw diameter D mm (in.)
Ball screw length L mm (in.)
6 -11
Timing Belt
Pulley
Load mass W kg (lb)
Thrust F kg (lb)
Timing belt
Gear+coupling
Gear co pling
Coefficient of friction µ GD2g
Motor

(lb¡in2.)
Pulley GD2d kg¡cm2

(lb¡in2.)
Pulley diameter D mm (in.)
Rack and Pinion
Load mass W kg (lb) W

Rack
Thrust F kg (lb)
Pinion
Coefficient of friction µ Gear+coupling Motor
GD2g

6 Gear+coupling GD2g kg¡cm2
(lb¡in2.)
Pinion diameter D mm (in.)
Pinion thickness t mm (in.)
6 -12
Roll Feeder
Press force
Load GD2 GD2ℓ kg¡cm2
(lb¡in2.)
Roller
Tension F kg (lb)
Press force P kg (lb) Motor
Roller diameter D mm (in.) Gear+coupling

GD2g
Coefficient of friction µ

(lb¡in2.)
Rotor

(lb¡in2.) Tℓ
Motor
Load torque Tℓ kg¡cm
(lb¡in2.) Gear+coupling GD2 ℓ
GD2g

6
(lb¡in2.)
Others

(lb¡in2.)
Load torque Tℓ kg¡cm

(lb¡in2.)
Motor speed Nm r/min
DUTY td s
Positioning time ts s
Accel/decel time ta s
6 -13
Duty cycle
DUTY td s
Positioning distance Ls mm (in.)
Moving part speed Vℓ m/min
Positioning time ts s
Accel/decel time ta s
Enter either Vℓ or ts. If both are entered, specify priority.
S Operating environment
S Operating temperature
S Other
* 1. GD2 (inertia) of Table W (load weight) and GD2 (inertia) of the motor are automatically calculated by the servomotor sizing
software.
* 2. Gear ratio R = Nm/Nℓ =motor-speed/load-speed
* 3. Gear+coupling GD2 g: GD2 of gear or coupling
This is GD2 of the joint (including a gear) between the motor and the load (machine).
6 -14
6.1.2 Selecting a SERVOPACK
This section explains each model of SERVOPACK and applicable Servomotors.
J Models
Select an SGDB SERVOPACK according to the servo system to be used. Each model can be
identified by specifying a 4-digit alphanumeric code following “SGDB-”. Refer to the Table
6.2.
SGDB- 05 A M-j
Σ-Series
SGDB SERVOPACK
Rated output (motor capacity)
Code Capacity (kW) Supply voltage

A: 200 V
05 0.5
10 1.0
Model
15 1.5 M: For multifunctional position control
20 2.0
30 3.0
Option
50 5.0 P: Duct ventilation type
60 6.0 6
75 7.5
Flowchart for SERVOPACK selection
1A 11.0
1E 15.0
Selected SERVOPACK Model
Example SGDB- 0 5 A M
Axis 1 SGDB-
Axis 2 SGDB-
D D D D D D D D D
6 -15
6.1.2 Selecting a SERVOPACK
J Correspondence between SERVOPACKs and Servomotors

The SERVOPACK to be selected is determined by the motor being used. Refer to the following
table to select an appropriate SERVOPACK. The motor to be used can also be changed among
applicable motors within the same group by setting the parameter.
Table 6.2 Correspondence between SERVOPACKs and Servomotors
Group SERVOPACK Model Applicable Motor Model
SGMG-03AjB
SGM-04A
05 SGDB-05AM
SGMP-04A
SGMG-05AjA
SGMG-06AjB
SGM-08A
SGMP-08A
10 SGDB-10AM
SGMG-09AjA
SGMG-09AjB
SGMS-10AjA
SGMG-12AjB
6 SGMG-13AjA
15 SGDB-15AM
SGMP-15A
SGMS-15AjA
SGMG-20AjA
20 SGDB-20AM SGMG-20AjB
SGMS-20AjA
SGMD-22AjA
SGMG-30AjA
30 SGDB-30AM
SGMG-30AjB
SGMS-30AjA
6 -16
Group SERVOPACK Model Applicable Motor Model
SGMD-32AjA
SGMG-44AjA
SGMG-44AjB
50 SGDB-50AM
SGMS-40AjA
SGMD-40AjA
SGMS-50AjA
SGMG-55AjA
60 SGDB-60AM
SGMG-60AjB
75 SGDB-75AM SGMG-75AjA
1A SGDB-1AAM SGMG-1AAjA
1E SGDB-1EAM SGMG-1EAjA
6.1.3 Selecting a Digital Operator
The following two models of Digital Operator are available. Each model differs in shape but
the operating functions are identical.
The two models cannot be used simultaneously. However, it is convenient to have both models
and use whichever suits the circumstances. 6
J Models of Digital Operator
D JUSP-OP03A (Mounted) D JUSP-OP02A-1 (Hand-held)
Use attached to the top of the

SERVOPACK front face.
Use held in the hand while connected

with the 1 m cable supplied.
Figure 6.1 Digital Operator
6 -17
6.1.3 Selecting a Digital Operator
J Digital Operator Selection

Select the Digital Operator according to the flowchart below.
Start Digital Operator selection
D Is the SERVOPACK front face

easily accessible for Yes
operation?
D Is compactness a priority?
No Select
Mounted
Model JUSP-OP03A
D Is the SERVOPACK front face
not easily accessible for Yes
operation? Model JUSP-OP02A-1
Select Hand-held
D Hand-held operation required?
End Digital Operator selection
Personal
computer is used Use a Hyper Terminal.
(Provided with Windows 95 or 98.)
6 Purchase dedicated cable (DE9405258,

DE9408564, or DE9408565) separately.
Figure 6.2 Flowchart for Digital Operator Selection
6 -18
6.2 Servomotor Ratings and Specifications
This section presents tables of ratings and specifications for Servomotors. Refer to these tables
when selecting a Servodrive.
6.2.1 Ratings and Specifications
The ratings and specifications of each Servomotor model are shown below.
J SGMG Servomotors (Rated Motor Speed is 1500 r/min)
Ratings and Specifications

Time rating: Continuous
Insulation class: Class F
Vibration class: 15 µm or below
Withstand voltage: 1500 VAC
Insulation resistance:
500 VDC 10 MΩ min.
Enclosure: Totally enclosed, self-cooled
IP67(except for shaft opening)
Ambient temperature: 0 to 40°C
Ambient humidity: 20% to 80% (non-condensing) 6
Excitation: Permanent magnet
Drive method: Direct drive
Mounting: Flange method
Table 6.3 Ratings and Specifications of SGMG Servomotors

(Rated Motor Speed is 1500 r/min)
Servomotor SGMG- 05Aj 09Aj 13Aj 20Aj 30Aj 44Aj 55Aj 75Aj 1AAj 1EAj
A A A A A A A A A A
Rated Output* kW (HP) 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11 15
(0.6) (1.1) (1.7) (2.4) (3.9) (5.9) (7.4) (10) (15) (20)
Rated Torque* N¡m 2.84 5.39 8.34 11.5 18.6 28.4 35.0 48.0 70.0 95.4
kgf¡cm 29 55 85 117 190 290 357 490 714 974

(lb¡in) (25) (48) (74) (102) (165) (252) (310) (425) (620) (845)
Instantaneous N¡m 8.92 13.8 23.3 28.7 45.1 71.1 87.6 119 175 224
Peak Torque*
kgf¡cm 91 141 238 293 460 725 894 1210 1790 2290
(lb¡in) (79) (122) (207) (254) (404) (630) (775) (1050) (1550) (1988)
Rated Current A (rms) 3.8 7.1 10.7 16.7 23.8 32.8 42.1 54.7 58.6 78.0
6 -19
Servomotor SGMG- 05Aj 09Aj 13Aj 20Aj 30Aj 44Aj 55Aj 75Aj 1AAj 1EAj
A A A A A A A A A A
Instantaneous A (rms) 11 17 28 42 56 84 110 130 140 170

Max Current*
Rated Speed* r/min 1500
Instantaneous r/min 3000 2000

Max Speed*
Torque N¡m/A 0.82 0.83 0.84 0.73 0.83 0.91 0.88 0.93 1.25 1.32
Constant (rms)
kgf¡cm/A 8.4 8.4 8.6 7.5 8.5 9.2 9.0 9.4 12.8 13.5
(lb¡in/A) (7.3) (7.3) (7.4) (6.5) (7.3) (8.0) (7.8) (8.2) (11) (11.7)
(rms)
Moment of kg¡m2 7.24 13.9 20.5 31.7 46.0 67.5 89.0 125 281 315
Inertia ¢10−4
gf¡cm¡s2 7.39 14.2 20.9 32.3 46.9 68.9 90.8 127 287 321
(lb¡in¡s2 (6.41) (12.3) (18.2) (28.1) (40.7) (59.8) (78.8) (111) (249) (279)
¢10−3)
Rated Power kW/s 11.2 20.9 33.8 41.5 75.3 120 137 184 174 289
Rate*
Rated Angular rad/s2 3930 3880 4060 3620 4050 4210 3930 3850 2490 3030
Acceleration*
Inertia Time ms 5.0 3.1 2.8 2.1 1.9 1.3 1.3 1.1 1.2 0.98
6 Constant
Inductive Time ms 5.1 5.3 6.3 12.5 12.5 15.7 16.4 18.4 22.6 27.2
Constant
* These items and torque-speed characteristics quoted in combination with an SGDB SERVOPACK at an armature winding tem-
perature of 20°C.
Note: These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes:
Model 05AjA to 13AjA: 400¢400¢20 mm (15.75¢15.75¢0.79 in)
Model 1AAjA to 1EAjA: 650¢650¢35 mm (25.59¢25.59¢1.38 in)
6 -20
IMPORTANT The ratings and specifications on the previous pages refer to a standard Servomotor.
Add the numerical values below to the moment of inertia values in the Table6.3for a motor fitted with a holding
brake. Other specifications will also change slightly.
Servomotor SGMG- 05Aj 09Aj 13Aj 20Aj 30Aj 44Aj 55Aj 75Aj 1AA 1EA
A A A A A A A A jA jA
With Moment of kg¡m2¢10−4 2.1 8.5 8.5 18.8 37.5

Holding Inertia
Brake Increase gf¡cm¡s2 2.14 8.67 8.67 19.2 38.3
(lb¡in¡s2¢10−3) (1.86) (7.54) (7.54) (16.7) (33.2)
Static Fric- N¡m (lb¡in) 4.41 12.7 20.0 43.1 72.6 84.3 114.7
tion Torque
Holding Brake, 90 VDC Rating
Servomotor SGMG- 05A 09A 13A 20A 30A 44A 55A 75A 1AA 1EA
jA jA jA jA jA jA jA jA jA jA
Coil Resistance (at 20°C) Ω 803.5 438 345 253 231
Rated Current (at 20°C) A 0.11 0.21 0.26 0.36 0.39
Capacity W 10.1 18.5 23.5 32.0 35.0

6
Servomotor SGMG- 05A 09A 13A 20A 30A 44A 55A 75A 1AA 1EA
jA jA jA jA jA jA jA jA jA jA
Coil Resistance (at 20°C) Ω 58.5 31.1 24.5 18.0 16.4
Rated Current (at 20°C) A 0.41 0.77 0.98 1.33 1.46
Capacity W 9.85 18.5 23.5 32.0 35.0
TERMS z Holding Brake
The holding brake is automatically applied to the motor shaft to prevent the load falling in vertical axis applications
when the motor power supply is turned off or fails. It is only to hold the load and cannot be used for stopping the
motor.
6 -21
Torque-Motor Speed Characteristics

SGMG Servomotor (Rated Motor Speed is 1500 r/min) Torque-Motor Speed Characteristics
SGMG-05AjA SGMG-09AjA
Motor Motor
Speed Speed
(r/min) (r/min)
Motor Motor
Speed Speed
6 (r/min) (r/min)
Motor Motor
Speed Speed
(r/min) (r/min)
A: Continuous Duty Zone

B: Intermittent Duty Zone
6 -22
Motor Motor
Speed Speed
(r/min) (r/min)
SGMG-1AAjA SGMG-1EAjA
300
200
Motor Motor A B
Speed Speed
(r/min) (r/min) 100
0
0 50 100 150 200 250
TORQUE (N.m)
0 500 1000 1500 2000 2500

6
TORQUE (lb.in)
J SGMG Servomotors (Rated Motor Speed is 1000 r/min)

IP67 (except for shaft opening)
Ambient humidity: 20% to 80% (non-condensing)
6 -23
Table 6.4 Ratings and Specifications of SGMG Servomotors

(Rated Motor Speed Is 1000 r/min)
Servomotor SGMG- 03AjB 06AjB 09AjB 12AjB 20AjB 30AjB 44AjB 60AjB
Rated Output* kW (HP) 0.3 0.6 0.9 1.2 2.0 3.0 4.4 6.0
(0.4) (0.8) (1.2) (1.6) (2.7) (4.0) (5.9) (8.0)
Rated Torque * N¡m 2.84 5.68 8.62 11.5 19.1 28.4 41.9 57.2
kgf¡cm 29 58 88 117 195 290 428 584

(lb¡in) (25) (50) (76) (102) (169) (252) (372) (508)
Instantaneous Peak N¡m 7.17 14.1 19.3 28.0 44.0 63.7 107 129
Torque*
kgf¡cm 73.2 144 197 286 449 650 1090 1320
(lb¡in) (63) (125) (171) (248) (390) (564) (947) (1140)
Rated Current A (rms) 3.0 5.7 7.6 11.6 18.5 24.8 32.9 46.9
Instantaneous Max Cur- A (rms) 7.3 13.9 16.6 28 42 56 84 110

rent*
Instantaneous Max r/min 2000

Speed*
Torque Constant N¡m/A 1.03 1.06 1.21 1.03 1.07 1.19 1.34 1.26
(rms)
kgf¡cm/A 10.5 10.8 12.4 10.5 11.0 12.1 13.7 12.9
6 (lb¡in/A) (9.12)
(rms)
(9.38) (10.7) (9.12) (9.47) (10.5) (11.9) (11.2)
Moment of Inertia kg¡m2 7.24 13.9 20.5 31.7 46.0 67.5 89.0 125
¢10−4
gf¡cm¡s2 7.39 14.2 20.9 32.3 46.9 68.9 90.8 127

(lb¡in¡s2 (6.41) (12.3) (18.2) (28.1) (40.7) (59.8) (78.8) (111)
¢10−3)
Rated Power Rate* kW/s 11.2 23.2 36.3 41.5 79.4 120 198 262
Rated Angular Accelera- rad/s2 3930 4080 4210 3620 4150 4210 4710 4590
tion*
Inertia Time Constant ms 5.1 3.8 2.8 2.0 1.7 1.4 1.3 1.1
Inductive Time Constant ms 5.1 4.7 5.7 13.5 13.9 15.5 14.6 16.5
perature of 20°C.
Model 03AjB to 09AjB: 400¢400¢20 mm (15.75¢15.75¢0.79 in)
Model 12AjB to 60AjB: 550¢550¢30 mm (21.65¢21.65¢1.18 in)
6 -24
Add the numerical values below to the moment of inertia values in the Table6.4for a motor fitted with a holding
Servomotor SGMG 03AjB 06AjB 09AjB 12AjB 20AjB 30AjB 44AjB 60AjB
With Moment of kg¡m2¢10−4 2.1 8.5

Holding Inertia In-
In
Brake crease gf¡cm¡s2 2.14 8.67
(lb¡in¡s2¢10−3) (1.86) (7.54)
8.67
(7.54)
Static Fric- N¡m (lb¡in) 4.41 12.7 20.0 43.1 72.6

tion Torque
Coil Resistance (at 20°C) Ω 803.5 438 345
Rated Current (at 20°C) A 0.11 0.21 0.26
Capacity W 10.1 18.5 23.5

6
Coil Resistance (at 20°C) Ω 58.5 31.1 24.5
Capacity W 9.85 18.5 23.5
6 -25

SGMG Servomotor (Rated Motor Speed is 1000 r/min) Torque-Motor Speed Characteristics
SGMG-03AjB SGMG-06AjB
Motor Motor
Speed Speed
(r/min) (r/min)
Motor Motor
Speed Speed
6 (r/min) (r/min)
Motor Motor
Speed Speed
(r/min) (r/min)

6 -26
Motor Motor
Speed Speed
(r/min) (r/min)

J SGMS Servomotors

Enclosure: Totally enclosed, self-cooled 6
6 -27
Table 6.5 Ratings and Specifications of SGMS Servomotors
Servomotor SGMS 10AjA 15AjA 20AjA 30AjA 40AjA 50AjA
Rated Output* kW (HP) 1.0 1.5 2.0 3.0 4.0 5.0

(1.3) (2.0) (2.7) (4.0) (5.4) (6.7)
Rated Torque * N¡m 3.18 4.9 6.36 9.8 12.6 15.8
kfg¡cm 32.4 50 65 100 129 161

(lb¡in) (28.2) (43) (56.4) (87) (112) (140)
Instantaneous Peak Torque* N¡m 9.54 14.7 19.1 29.4 37.8 47.6
kfg¡cm 97.2 150 195 300 387 486

(lb¡in) (84.4) (130) (169) (260) (336) (422)
Rated Current A (rms) 5.7 9.5 12.4 18.8 24.3 28.2
Instantaneous Max Current* A (rms) 17 28 42 56 77 84
Instantaneous Max Speed* r/min 4500
Torque Constant N¡m/A 0.636 0.573 0.559 0.573 0.55 0.61

(rms)
kgf¡cm/A 6.49 5.84 5.7 5.84 5.6 6.2

(lb¡in/A) (5.6) (5.1) (5.0) (5.1) (4.9) (5.4)
(rms)
Moment of Inertia kg¡m2 1.74 2.47 3.19 7.00 9.60 12.3

6 ¢10−4
gf¡cm¡s2 1.78 2.52 3.26 7.14 9.80 12.6

(lb¡in¡s2 (1.54) (2.19) (2.82) (6.20) (8.50) (10.9)
¢10−3)
Rated Power Rate* kW/s 57.9 97.2 127 137 166 202
Rated Angular Acceleration* rad/s2 18250 19840 19970 14000 13160 12780
Inertia Time Constant ms 0.87 0.71 0.58 0.74 0.60 0.57
Inductive Time Constant ms 7.1 7.7 8.3 13.0 14.1 14.7
perature of 20°C.
Note: These characteristics can be obtained when the following heat sinks (aluminium plates) are used for cooling purposes:
6 -28
Add the numerical values below to the moment of inertia values in the Table 6.5 for a motor fitted with a holding
Servomotor SGMS- 10AjA 15AjA 20AjA 30AjA 40AjA 50AjA
With Moment of Iner- kg¡m2¢10−4 0.325 2.1

Holding tia Increase
Brake gf¡cm¡s2 (lb¡in¡s2 ¢10−3) 0.332 (0.289) 2.14 (1.86)
Static Friction N¡m (lb¡in) 7.84 20

Torque
Coil Resistance (at 20°C) Ω 1150 803.5
Rated Current (at 20°C) A 0.08 0.11
Capacity W 7.0 10.1
Coil Resistance (at 20°C) Ω 82.0 58.5 6

Rated Current (at 20°C) A 0.29 0.41
Capacity W 7.0 9.85
6 -29

SGMS Servomotor Torque-Motor Speed Characteristics
SGMS-10AjA SGMS-15AjA
Motor Motor
Speed Speed
(r/min) (r/min)
Motor Motor
Speed Speed
6 (r/min) (r/min)
Motor Motor
Speed Speed
(r/min) (r/min)

6 -30
J SGMD Servomotors (with Holding Brake)

Holding brake: 90 VDC
Static friction torque: 3kgf¡m
6 -31
Table 6.6 Ratings and Specifications of SGMD Servomotors (with Holding Brake)
Servomotor SGMD- 22AjAAB 32AjAAB 40AjAAB
Rated Output* kW (HP) 2.2 (2.9) 3.2 (4.3) 4.0 (5.4)
Rated Torque * N¡m 10.5 15.3 19.1
kfg¡cm (lb¡in) 107 (93) 156 (135) 195 (169)
Instantaneous Peak Torque* N¡m 36.7 53.5 66.9
kfg¡cm (lb¡in) 375 (326) 546 (474) 682 (592)
Rated Current A (rms) 15.7 20.9 22.8
Instantaneous Max Current* A (rms) 54 73 77
Instantaneous Max Speed* r/min 3000
Torque Constant N¡m/A (rms) 0.72 0.78 0.93
kgf¡cm/A(lb¡in/A) 7.4 (6.4) 8.0 (6.9) 9.5 (8.2)

(rms)
Moment of Inertia kg¡m2¢10−4 56.6 74.2 91.8
gf¡cm¡s2 57.8 (50.3) 75.7 (65.9) 93.7 (81.5)

(lb¡in¡s2¢10−3)
Rated Power Rate* kW/s 21.6 34.1 42.3

6 Rated Angular Acceleration* rad/s2 2060 2230 2220
Inertia Time Constant ms 3.1 2.2 1.7
Inductive Time Constant ms 15.4 18.2 20.9
perature of 20°C.
Model 22AjAAB to 40AjAAB: 650¢650¢35 mm (25.59¢25.59¢1.38 in)
6 -32

SGMD Servomotor Torque-Motor Speed Characteristics
SGMD-22AjAAB SGMD-32AjAAB
Motor Motor
Speed Speed
(r/min) (r/min)
SGMD-40AjAAB
Motor
Speed
(r/min)

J SGMP Servomotors

Insulation class: Class B
6 -33

Table 6.7 Ratings and Specifications of SGMP Servomotors(1.5 kW)
Servomotor SGMP- 04A 08A 15A
Rated Output*1 kW (HP) 0.4 (0.5) 0.75 (1.0) 1.5 (2.0)
Rated Torque *1 *2 N¡m 1.27 2.39 4.77
kgf¡cm (lb¡in) 13.0 24.3 48.7 (42.2)
Instantaneous Peak Torque*1 N¡m 3.82 7.1 14.3
kgf¡cm (lb¡in) 39.0 72.9 146.1 (126.6)
Rated Current A (rms) 2.6 4.1 7.5
Instantaneous Max Current*1 A (rms) 8.0 13.9 23.0
Instantaneous Max Speed*1 r/min 4500
Torque Constant N¡m/A (rms) 0.535 0.641 0.687
kgf¡cm/A 5.46 6.55 7.01 (6.08)

(lb¡in/A)(rms)
Moment of Inertia kg¡m2¢10−4 0.347 2.11 4.03
gf¡cm¡s2
6 (oz¡in¡s2¢10−3)
0.354 2.15 4.11 (3.57)
Rated Power Rate*1 kW/s 46.8 26.9 56.6
Rated Angular Acceleration*1 rad/s2 36700 11300 11800
Inertia Time Constant ms 0.4 0.7 0.5
Inductive Time Constant ms 8.5 18 22
* 1. These items and torque-motor speed characteristics quoted in combination with an SGDB SERVOPACK at an armature wind-
ing temperature of 100°C. Other values quoted at 20°C. All values typical.
* 2. Rated torques are continuous allowable torque values at 40°C with a 300¢300¢12 (mm) (11.81¢11.81¢0.47 (in)) heat sink
attached.
6 -34
IMPORTANT The ratings and specifications on the previous page refer to a standard Servomotor.
Add the numerical values below to the moment of inertia values in the Table 6.7 for a motor fitted with a holding
With Holding Brake kg¡m2¢10−4 0.098 0.41 0.88
gf¡cm¡s2 0.100 0.42 0.89

(lb¡in¡s2¢10−3)
With 12-bit Absolute Encoder kg¡m2¢10−4 0.025
gf¡cm¡s2 0.026
The electrical specifications and statical friction torque of holding brake are shown below.
Static Friction Torque N¡m (lb¡in) 1.96 3.63 7.45
Coil Resistance (at 20°C) Ω 1062 1083 832
Capacity W 7.6 7.5 10
6
Static Friction Torque N¡m (lb¡in) 1.96 3.63 7.45
Coil Resistance (at 20°C) Ω 89 77 58
Capacity W 7.6 7.5 10
6 -35

SGMP Servomotor Torque-Motor Speed Characteristics
SGMP-04A SGMP-08A
4000 4000
3000 3000
Motor Motor
Speed 2000 Speed 2000
(r/min) (r/min)
1000 1000
0 0
0 1 2 3 4 0 2 4 6 8
TORQUE (N¡m) TORQUE (N¡m)
0 10 20 30 40 0 20 40 60 80
TORQUE (lb¡in) TORQUE (lb¡in)
SGMP-15A
Motor
Speed
(r/min)
6

J Ratings and Specifications of SGM Model

Insulation class: Class B
Insulation resistance: 500 VDC 10 MΩ min.
6 -36
Table 6.8 Ratings and Specifications of SGM Model
Servomotor SGM- 04A 08A
Rated Output*1 W (HP) 400 (0.536) 750 (1.006)
Rated Torque *1 *2 N¡m 1.27 2.39
kgf¡cm (lb¡in) 13.0 24.3
Instantaneous Peak Torque*1 N¡m 3.82 7.1
kgf¡cm (lb¡in) 39.0 72.9
Rated Current*1 A (rms) 2.6 4.4
Instantaneous Max Current*1 A (rms) 8.0 13.9
Rated Speed*1 r/min 3000
Instantaneous Max Speed*1 r/min 4500
Torque Constant*1 N¡m/A (rms) 0.533 0.590
kgf¡cm/A 5.44 6.01

(lb¡in/A)(rms)
Moment of Inertia [JM] (= GD2M/4) 0.191 0.671

kg¡m2¢10−4
gf¡cm¡s2 0.195 0.685

(oz¡in¡s2¢10−3)
Rated Power Rate*1 kW/s 84.6 85.1 6

Rated Angular Acceleration*1 rad/s2 66600 35600
Inertia Time Constant ms 0.3 0.3
Inductive Time Constant ms 6.4 13
* 1. These items and torque-speed characteristics are the values obtained in combination with an SGDB SERVOPACK with the
armature winding temperature at 100_C; other values were obtained with the armature winding temperature at 20_C. Note
also that all values are representative values only.
* 2. Rated torque indicates the continuous allowable torque at an ambient temperature of 40_C when attached to a heat sink mea-
suring 250 ¢ 250 ¢ 6 mm (9.84 × 9.84 × 0.24 in).
6 -37
IMPORTANT The ratings and specifications on the previous page are for a standard Servomotor.
Add the numeric values to the moment of inertia values in the Table6.8 for a motor fitted with a holding brake
and a 12-bit absolute encoder. Other specifications will also change slightly.
SGM- 04A 08A

With Holding Brake kg¡m2¢10−4 0.058 0.14
gf¡cm¡s2 0.059 0.143

(lb¡in¡s2¢10−3)
With 12-bit Absolute Encoder kg¡m2¢10−4 0.025
gf¡cm¡s2 0.026
(lb¡in¡s2¢10−3)
Also, if an oil seal is attached, use the reduced rating shown below. This is required for the re-
sulting increase in friction torque. In this case, too, the values of other specifications will also
change slightly.
SGM- 04A 08A
Reduced rate (%) 95
z Holding Brake Motor

TERMS
The holding brake is automatically applied to the motor shaft to prevent

the load falling in vertical axis applications when the motor power supply Prevent
is turned OFF or fails. It is only to hold the load and cannot be used to stop Load load falling
the motor.
Load
6 -38
The electrical specifications and static friction torque of the holding brake are shown below.
SGM (Rated Voltage: 90 VDC): Standard Models
Motor Model Motor Holding Brake Specifications

Capacity
W Capacity Holding Coil Rated
(HP) W Torque Resistance Current
(HP) kgScm Ω at 20°C A at 20°C
(lbSin)
SGM-04jjjj 400 (0.536) 6.5 (0.009) 15 1246 0.072
SGM-08jjjj 750 (1.006) 6 (0.008) 25 1350 0.067
SGM (Rated Voltage: 24 VDC): Nonstandard Models
Motor Model Motor Holding Brake Specifications

Capacity
W Capacity Holding Coil Rated
(HP) W Torque Resistance Current
(HP) kgScm Ω at 20°C A at 20°C
(lbSin)
SGM-04jjjj 400 (0.536) 6.5 (0.009) 15 89 0.27
SGM-08jjjj 750 (1.006) 6 (0.008) 25 96 0.25
SGM Torque-Speed Characteristics

6
SGM-04A SGM-08A
4000 4000
3000 3000
Motor Motor
Speed 2000 Speed 2000
(r/min) (r/min)
1000 1000
0 0
0 1 2 3 4 0 2 4 6 8
TORQUE (N¡m) TORQUE (N¡m)
0 10 20 30 40 0 20 40 60 80
TORQUE (lb¡in) TORQUE (lb¡in)

6 -39
6.2.2 Mechanical Characteristics
This section describes the mechanical characteristics of Servomotors.
J Allowable Radial Load, Allowable Thrust Load
The output shaft allowable loads for SGMj Servomotor are shown below.
Perform mechanical design such that the thrust loads and radial loads do not exceed the values
stated below.
Table 6.9 Allowable Radial Load and Thrust Load of Servomotor
Servomotor Allowable Radial Allowable LR Reference Diagram

Model Load Fr [N(lb)] Thrust Load mm
Fs [N(lb)] (in.)
SGMG-05AjA 490 (110) 98 (22) 58 (2.28)
-09AjA 490 (110) 98 (22)
-13AjA 686 (154) 343 (77)
-20AjA 1176 (265) 490 (110) 79 (3.11)

6 -30AjA 1470 (331) 490 (110)
-44AjA 1470 (331) 490 (110)
-55AjA 1764 (397) 588 (132) 113

(4 45)
(4.45)
-75AjA 1764 (397) 588 (132)
-1AAjA 1764 (397) 588 (132) 116

(4 57)
(4.57)
4998 (1125) 2156 (485)
SGMG-03AjB 490 (110) 98 (22) 58 (2.28)
-06AjB 490 (110) 98 (22)
-09AjB 686 (154) 343 (77)
-12AjB 1176 (265) 490 (110) 79 (3.11)
-20AjB 1470 (331) 490 (110)
-30AjB 1470 (331) 490 (110)
-44AjB 1764 (397) 588 (132) 113

(4 45)
(4.45)
-60AjB 1764 (397) 588 (132)
6 -40
Servomotor Allowable Radial Allowable LR Reference Diagram

Model Load Fr [N(lb)] Thrust Load mm
Fs [N(lb)] (in.)
SGMS-10A 686 (154) 196 (44) 45 (1.77)
-15A 686 (154) 196 (44)
-20A 686 (154) 196 (44)
-30A 980 (221) 392 (88) 63 (2.48)
-44A 1176 (265) 392 (88)
-50A 1176 (265) 392 (88)
SGMD-22A 1176 (265) 490 (110) 55 (2.17)
-32A 1176 (265) 490 (110)
-40A 1176 (265) 490 (110) 65 (2.56)
SGM-04A 245 74 25 (0.98)
-08A 392 147 35 (1.38)
SGMP-04A 245 68 25 (0.98)
-08A 392 147 35 (1.38)
-15A 490 147
*
6
Allowable radial loads shown above are the maximum values that could be applied to the shaft
end.
J Mechanical Tolerance
The tolerances of the SGMj Servomotor output shaft and installation are shown in the table
below.
Tolerance (T.I.R.) Tolerance Reference Diagram

(T.I.R.)
Perpendicularity between flange face 0.04mm

and output shaft A (0.0016in.)
Mating concentricity of flange O.D. B 0.04mm

(0.0016in.)
Run-out at end of shaft C 0.02mm

(0.00079in.)
6 -41
J Direction of Motor Rotation

Positive rotation of the servomotor is counterclockwise, viewing from the drive end.
Forward direction
J Impact Resistance
Mount the servomotor with the axis horizontal. The servomotor must withstand the following
vertical impacts.
SGM, SGMP
D Impact Acceleration: 98 m/s2 (10 G)
D Number of Impacts: 2
SGMG, SGMS, SGMD
D Impact Acceleration: 490 m/s2 (50 G)
D Number of Impacts: 2
Vertical
6
Horizontal shaft
Impact Applied to Servomotor
IMPORTANT In SGMjServomotors, an accurate detector is attached to the shaft at the opposite end from the load. Avoid
applying impacts directly to the shaft as these may damage the detector.
J Vibration Resistance
Mount the servomotor with the axis horizontal. The servomotor must withstand the following
vibration accelerations in three directions: vertical, transverse, and longitudinal.
D Vibration Acceleration: 24.5 m/s2 (2.5 G)
Longitudinal
Vertical
Transverse Horizontal
shaft
Vibration Applied to Servomotor
6 -42
J Vibration Class
The SGMj Servomotors meet the following vibration class at rated speed.
D Vibration Class: 15 µm or below

Vibration Measurement Position
TERMS z Vibration Class
Vibration class 15 mm or below indicates that the total amplitude of vibration of the motor alone, running at rated
speed, does not exceed 15 mm.
6 -43
6.3.1 Combined Specifications
6.3 SERVOPACK Ratings and Specifications
This section presents tables of SGDB SERVOPACK ratings and specifications.
The following table shows the specifications obtained when SGDB SERVOPACKs are com-
bined with SGMG, SGMS, SGMD, SGM, and SGMP Servomotors:
Table 6.10 Combined Specifications of SERVOPACKs and Servomotors
SGMG SERVOPACK 05AM 10AM 10AM 15AM 20AM 30AM 50AM 60AM
Series SGDB-
Motor Model 03Aj 06Aj 09Aj 12Aj 20Aj 30Aj 44Aj 60Aj
B B B B B B B B
SGMG-
Capacity 0.3 0.6 0.9 1.2 2.0 3.0 4.4 6.0

(0.4) (0.8) (1.2) (1.6) (2.7) (4.0) (5.9) (8.0)
kW (HP)
Rated/Max. 1000/2000
Motor Speed
r/min
Applicable Standard: Incremental encoder (8192 P/R)

6 Encoder
Continuous Output 3.0 5.7 7.6 11.6 18.5 24.8 32.9 46.9
Current
A (rms)
Max. Output Current 7.3 13.9 16.6 28 42 56 84 110

A (rms)
Allowable Load Iner- 36.2 69.5 103 159 230 338 445 625
tia*JL (32.0) (61.5) (91.2) (141) (204) (299) (394) (553)
kg¡m2¢10−4
(oz¡in¡s2¢10−3)
6 -44
SGMG SERVOPACK 05AM 10AM 15AM 20AM 30AM 50AM 60AM 75AM 1AAM 1EAM
Series SGDB-
Motor Model 05 09 13 20 30 44 55 75 1A 1E
AjA AjA AjA AjA AjA AjA AjA AjA AjA AjA
SGMG-
Capacity 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11 15

(0.6) (1.1) (1.7) (2.4) (3.9) (5.9) (7.4) (10) (15) (20)
kW (HP)
Rated/Max. 1500/3000 1500/2000

Motor Speed
r/min

Encoder
Continuous Output 3.8 7.1 10.7 16.7 23.8 32.8 42.1 54.7 58.6 78.6
Current
A (rms)
Max. Output Current 11 17 28 42 56 84 110 130 140 170

A (rms)
Allowable Load Iner- 36.2 69.5 103 159 230 338 445 625 1405 1575
tia*JL (32.0) (61.5) (91.2) (141) (204) (299) (394) (553) (1244)
kg¡m2¢10−4
(oz¡in¡s2¢10−3)
* The allowable load inertia is five times the motor inertia for the SGMG.
6
6 -45
SGMD SERVOPACK 30AM 50AM 50AM

Series SGDB-
Motor Model 22 32 40
AjA AjA AjA
SGMD-
Capacity 2.2 3.2 4.0

(2.9) (4.3) (5.4)
kW (HP)
Motor Speed
r/min
Applicable Standard: Absolute encoder (1024 P/R)

Encoder
Continuous Output 15.7 20.9 22.8

Current
A (rms)
Max. Output Current 54 73 77

A (rms)
Allowable Load Iner- 255 343 431

tia*JL (226) (304) (382)
kg¡m2¢10−4
(oz¡in¡s2¢10−3)
6 * The allowable load inertia is five times the motor inertia for the SGMD.
6 -46
SGMS SERVOPACK 10AM 15AM 20AM 30AM 50AM 50AM

Series SGDB-
Motor Model 10 15 20 30 40 50
AjA AjA AjA AjA AjA AjA
SGMS-
Capacity 1.0 1.5 2.0 3.0 4.0 5.0

(1.3) (2.0) (2.7) (4.0) (5.4) (6.7)
kW (HP)
Motor Speed
r/min

Encoder
Continuous Output 5.7 9.5 12.4 18.8 24.3 28.2

Current
A (rms)
Max. Output Current 17 28 42 56 77 84
A (rms)
Allowable Load Iner- 8.7 12.4 16.0 35.0 48.0 61.5

tia*JL (7.7) (11.0) (14.2) (31.0) (42.5) (54.9)
kg¡m2¢10−4
(oz¡in¡s2¢10−3)
* The allowable load inertia is five times the motor inertia for the SGMS.
6
6 -47
SGMP SERVOPACK 05AM 10AM 15AM

Series SGDB-
Motor Model 04Aj 08Aj 15Aj

SGMP-
Capacity 0.4 0.75 1.5

(0.5) (1.0) (2.0)
kW (HP)
Motor Speed
r/min

Encoder
Continuous Output 2.6 4.1 7.5

Current
A (rms)
Max. Output Current 8.0 13.9 23.0

A (rms)
Allowable Load Iner- 10.4 10.6 20.2

tia*JL (17.9)
kg¡m2¢10−4
(oz¡in¡s2¢10−3)
6 -48
SGM SERVOPACK 05AM 10AM

Series SGDB-
Motor Model 04Aj 08Aj

SGM-
Capacity 0.4 0.75

(0.5) (1.0)
kW (HP)
Motor Speed
r/min

Encoder
Continuous Output 2.6 4.4

Current
A (rms)
Max. Output Current 8.0 13.9

A (rms)
Allowable Load Iner- 5.73 20.1

tiaJL
kg¡m2¢10−4
6 -49
The ratings and specifications of SERVOPACKs are shown in Table 6.11 below. Refer to them
when selecting a SERVOPACK.
Table 6.11 Ratings and Specifications of SERVOPACKs
SERVOPACK SGDB- 05 10 15 20 30 50 60 75 1A 1E
Applicable Servomotor SGMG- (1500 r/min) 05A 09A 13A 20A 30A 44A 55A 75A 1AA 1EA
SGMG- (1000 r/min) 03A 06A, 12A 20A 30A 44A 60A − − −
09A
SGMS- − 10A 15A 20A 30A 40A, − − − −

50A
SGMD- − − − − 22A 32A, − − − −

40A
SGMP- 04A 08A 15A − − − − − − −
SGM- 04A 08A − − − − − − − −
Basic Input Main Circuit*1 Three-phase 200 to 230 VAC +10% to −15%, 50/60 Hz
Specifica- Power
tions Supply Control Circuit*1 Single-phase 200 to 230 VAC +10% to −15%, 50/60 Hz
Control Mode Three-phase, full-wave rectification IGBT PWM (sine-wave driven)
Feedback Incremental encoder, absolute encoder

6
Location Operating/Storage 0 to 55°C/−20 to 85°C
Temperature*2
Operating and Storage 90% or less (non-condensing)

Humidity
Vibration/Shock Resistance 4.9 m/s2/19.6 m/s2
Structure Base-mounted (duct ventilation available as option)
Approx. Mass 1 (lb) 4 (9) 5 (11) 15 (33) 23 (51)
6 -50
Position Station Number Operating Fixed point positioning using station numbers (contact data)
Control Command Method Specifications
Function
Command Position command:
Input BCD (000 to 999) or binary number (0 to 4095, 12 bits)
System Absolute command or incremental command
Digital Switch Operating Positioning by digital switches

Command Method Specifications
Command Position command: Sign + 8 digits max. (−99999999 to +99999999)

Input
Speed command: 6 digits max. (000001 to 240000), but must not exceed
maximum rotation speed of motor
Serial Communications Operating Positioning by serial communications

Command Method Specifications
Command Asynchronous, baud rate 1200 to 38400 bps (Initial setting: 38400 bps)
Input
Command Table Operating Positioning by position and speed number command (contact data)
Method Specifications
Command Position command: Position table, sign + 8 bits max. (−99999999 to

Input +99999999)
6
Speed command: Speed table, 6 digits max. (000001 to 240000), but must
not exceed maximum rotation speed of motor
Position and speed number command:
Binary number (1 to 512, 9 bits max.)
Pulse Mode Operating Positioning by pulse train (line PG or pulse train input)
Specifications
Command Position: Pulse number 90_ phase difference 2-phase pulse train, forward +
Input reverse pulse train, sign + pulse train
Speed: Pulse frequency 450 kpps max.
Form: Line driver (+5 V)
System Compatible with incremental command only
Perfor- Bias Setting 0 to 450 r/min (setting resolution: 1 r/min)

mance
Feed-forward Compensation 0 to 100% (setting resolution: 1%)
Positioning Completed Width 0 to 250 command units (setting resolution: 1 command unit)
Setting
6 -51
I/O Func- Position Output Output Form Line driver output: Phases A and B
tions
Frequency 16 to 32768 (up to number of encoder pulses)
Dividing Ratio
Control Interface I/O Input 1 serial port, 24 V digital system
Output 1 serial port, 24 V system and 5 V system (PG division output)
Analog Monitor Output CH1 Speed feedback: 2 V/1000 r/min or 1 V/1000 r/min
Position error: 0.05 V/command units or 0.05 V/100 command units
CH2 Torque command: 2 V/rated torque
Speed command: 2 V/1000 r/min or 1 V/1000 r/min
Built-in Dynamic Brake (DB) Activated at main power OFF, alarm, servo OFF or overtravel
Functions (specified by parameter).
Regenerative Processing Built-in. (For 5 kW or greater, an external regenerative resistor must be

mounted.)
Overtravel (OT) Prevention When P-OT or N-OT is activated, the motor is stopped by dynamic brake,
decelerates to a stop, or coasts to a stop (specified by parameter).
External Current Limit Switches between forward (Cn-08) and reverse (Cn-09) current limits in
accordance with /P-CL or /N-CL contact input; or a fixed current limit
specified by parameter (Cn-10).
6 Protection Absolute data alarm (A.00), parameter breakdown (A.02), parameter set-
ting alarm (A.04), overcurrent (A.10), regenerative alarm (A.30), main
circuit voltage alarm (A.40), overspeed (A.51), overload (A.71 and A.72),
heat sink overheat (A.7A), zero point alarm (A.80), absolute PG back-up
alarm (A.81), absolute PG checksum alarm (A.82), absolute PG battery
alarm or SERVOPACK battery alarm (A.83), absolute PG data alarm
(A.84), absolute PG overspeed (A.85), Servo overrun (A.C1), PG phase
error detection (A.C2), PG phase A or phase B disconnection (A.C3), PG
phase C disconnection (A.C4), position error pulse overflow (A.D0), hard-
ware alarm (A.B0), CPU error (A.B2 and A.B3), power line open phase
detect (A.F1), power loss (A.F3).
Note: Occasionally hardware errors may not be included in alarm trace-back,
and CPU errors may occasionally be included in alarm trace-back but not
displayed.
Display POWER (control power supply), ALARM (alarm), CHARGE (main cir-
cuit capacitor charging), STATUS (7-segment LED status display)
Monitor Serial communications, digital operator (position, speed, torque, I/O sig-
nals, etc.), analog voltage (current speed, torque command, speed com-
mand, position error)
6 -52
Built-in Position Control Functions Linear acceleration/deceleration (1-step and 2-step), exponential accelera-
Functions tion/deceleration, S-curve acceleration/deceleration, electronic gear func-
tion, command pulse multiplication, stored stroke limit, backlash com-
pensation, COIN (positioning complete output), NEAR (positioning near
output), line PG switching, etc.
Absolute Encoder Back-up Battery mounted on SERVOPACK panel; contains built-in super capacitor
Commu- Interface RS-422A port of personal computer, etc. (RS-232C port can be used if
nications certain conditions are met.)
Digital Operator (JUSP-OP02A-1, JUSP-OP03A)
Number of Communications 15 axes if group configuration is not specified; 32 axes if group configura-
Axes tion is specified (when connected via RS-422A port).
Axis Address Setting Hexadecimal rotary switch (1 SW); group setting is specified by parameter
(Cn-13).
Functions Operation command input, status display, parameter settings, table settings,
monitor display, alarm trace-back display, etc.
* 1. The SERVOPACK cannot be used if the power supply voltage exceeds 230 V + 10% (253 V). If it is likely to exceed this limit,
use a step-down transformer.
* 2. Install the SERVOPACK where the ambient temperature lies within this range. Even if the SERVOPACK is installed in a box,
the temperature within the box must not exceed this range.
6 -53
6.3.3 Overload Characteristics
6.3.3 Overload Characteristics
The SERVOPACK has a built-in overload protective function to protect the SERVOPACK and
Servomotor from overload. Therefore, the SERVOPACK allowable power is limited by the
overload protective function, as shown below.
The overload detection level is quoted under hot start conditions at a motor ambient tempera-
ture of 40°C.
Operating Time (s)
Rated current Maximum current
6 Approx.
Rated current + Maximum current
2
Motor Current
Figure 6.3 Overload Characteristics
TERMS z Hot Start
Indicates that both SERVOPACK and Servomotor have run long enough at rated load to be thermally saturated.
6 -54
6.3.4 Starting Time and Stopping Time
The motor starting time (tr) and stopping time (tf) under constant load are calculated by the
following formulas. The motor viscous torque and friction torque are ignored.
2π ⋅ N m (J M + J L)
Starting Time: tf = [s]
60 ⋅ (T PM·–T L)
Stopping Time: 2π ⋅ N m (J M + J L)
tf = [ms]
60 ⋅ (T PM· + T L)
NM: Motor speed used (r/min.)

JM: Motor moment of inertia (kg¡m2) . . . . . . . . . . . . . . . (GD2M/4)
JL: Load converted to shaft moment of inertia (kg¡m2) . . . . . . . (GD2L/4)
TPM: Maximum instantaneous motor torque obtained in combination with SERVOPACK
(N¡m)
TL: Load torque (N¡m)
To convert the motor current value into an equivalent torque value, use the following formula:
Motor torque constant × motor current value (effective value)
T PM
Motor Torque
(size) Time
TL
TPM
6
NM
Motor Speed Time
Figure 6.4 Motor Torque (Size) - Motor Speed Timing Chart
6.3.5 Load Inertia
The larger the load inertia becomes, the worse the movement response of the load. The size
of the load inertia (JL) allowable when using a servomotor must not exceed five times the motor
inertia (JM).
For the SGM-04Aj, SGM-08Aj, and SGMP-04Aj, this limitation is 30 times the motor in-
ertia, and for the SGMP-08Aj, it is 10 times the motor inertia.
If the load inertia exceeds five times the motor inertia, an overvoltage alarm may arise during
deceleration. To prevent this, take one of the following actions:
D Reduce the torque limit value.

D Reduce the slope of the deceleration curve.
D Reduce the maximum motor speed.
D Consult your Yaskawa representative.
6 -55
6.3.6 Overhanging Loads
6.3.6 Overhanging Loads
A Servomotor may not be operated under an overhanging load, which is a load which tends
to continually rotate the motor. The following figure shows a typical example of overhanging
load.
Motor
Motor drive for vertical axis, using no counterweight
Tension
Motor
Motor subject to rotation from feed motor
6 to maintain applied tension.
Tension control drive

Figure 6.5 Typical Example of Overhanging Load
IMPORTANT Under an overhanging load, SERVOPACK regenerative brake is continuously applied, and the regenerative
energy of the load may exceed the allowable range and damage the SERVOPACK.
The regenerative brake capacity of the SERVOPACK is rated for short-time operation, approximately equivalent
to the deceleration stopping time.
6 -56
6.4 Σ-Series Dimensional Drawings
This section presents dimensional drawings of the Σ-Series Servomotor, SERVOPACK, and Digi-
tal Operator.
6.4.1 Servomotor Dimensional Drawings
The dimensional drawings of the SGMG, SGMS, SGMD and SGMP (1.5 kW) Servomotors
are shown on the following pages. Note that the models and dimensional drawings of the
SGMG Servomotors differ according to rated speed (1500 or 1000 r/min).
The dimensional drawings of each Servomotor series are broadly divided into four types, ac-
cording to the detector type (incremental or absolute encoder) and the presence or absence of
a brake.
Model Reference Pages
SGMG Servomotors, 1500 r/min Page 6 -57 to 6 -71
SGMG Servomotors, 1000 r/min Page 6 -71 to 6 -83
SGMS Servomotors Page 6 -83 to 6 -91
SGMD Servomotors Page 6 -92 to 6 -96
SGM Servomotors Page 6 -97 to 6 -108

6
SGMP Servomotors Page 6 -109 to 6 -128
J SGMG-jjAjA Servomotors (1500 r/min)
With Incremental Encoder (8192 P/R)
0.06 A
For 1AA2A and
1EA2A only
(0.0016)
(φ0.0016)
(0.0008)
4-φLZ
MTG Holes
0.04
(0.0016)
For 55A2A, 75A2A,
1AA2A and 1EA2A only Unit: mm (in)
6 -57
Detailed View of Shaft End

SGMG-05A2A to -13A2A, -1AA2A and -1EA2A SGMG-20A2A to -75A2A
Unit: mm (in)
Model SGMG- L LL LM LR LT KB1 KB2 IE KL1 KL2
05A2A 196 138 92 58 46 65 117 − 109 88

(7.72) (5.43) (3.62) (2.28) (1.81) (2.56) (4.61) (4.29) (3.46)
09A2A 219 161 115 58 46 88 140 − 109 88

(8.62) (6.34) (4.53) (2.28) (1.81) (3.46) (5.51) (4.29) (3.46)
13A2A 243 185 139 58 46 112 164 − 109 88

(9.57) (7.28) (5.47) (2.28) (1.81) (4.41) (6.46) (4.29) (3.46)
20A2A 245 166 119 79 47 89 145 − 140 88

(9.65) (6.54) (4.69) (3.11) (1.85) (3.50) (5.71) (5.51) (3.46)
30A2A 271 192 145 79 47 115 171 − 140 88

(10.67) (7.56) (5.71) (3.11) (1.85) (4.53) (6.73) (5.51) (3.46)
44A2A 305 226 179 79 47 149 205 − 140 88

6 (12.01) (8.90) (7.05) (3.11) (1.85) (5.87) (8.07) (5.51) (3.46)
55A2A 373 260 213 113 47 174 239 125 150 88

(14.69) (10.24) (8.39) (4.45) (1.85) (6.85) (9.41) (4.92) (5.91) (3.46)
75A2A 447 334 287 113 47 248 313 125 150 88

(17.60) (13.15) (11.30) (4.45) (1.85) (9.76) (12.32) (4.92) (5.91) (3.46)
1AA2A 454 338 291 116 47 251 317 142 168 88

(17.87) (13.31) (11.46) (4.57) (1.85) (9.88) (12.48) (5.59) (6.61) (3.46)
1EA2A 573 457 388 116 69 343 435 142 168 88

(22.56) (17.99) (15.28) (4.57) (2.72) (13.50) (17.13) (5.59) (6.61) (3.46)
6 -58
Unit: mm (in)
Model Flange Dimensions Shaft End Dimensions Approx.

SGMG-
SGMG Mass
kg
LA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ S S1 Q
(lb)
05A2A 145 0 130 6 6 − 12 165 45 − 9 0 30 40 5.5

110 − 0.035 19 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (12.12)
0
0 (0.75 − 0.0005)
(4.33 − 0.0014)
09A2A 145 0 130 6 6 − 12 165 45 − 9 0 30 40 7.6

110 − 0.035 19 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (16.75)
0
0 (0.75 − 0.0005)
(4.33 − 0.0014)
13A2A 145 0 130 6 6 − 12 165 45 − 9 0 30 40 9.6

110 − 0.035 22 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (21.16)
0
0 (0.87 − 0.0005)
(4.33 − 0.0014)
20A2A 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 14

114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (30.86)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
30A2A 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 18

114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (39.68)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
44A2A 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 23

114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (50.69)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
55A2A 200 0
114.3 − 0.025
180 3.2 3 0.5 18 230 76 62 13.5 0
42 − 0.016
45 110 30 6
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (66.13)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
75A2A 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 40

114.3 − 0.025 42 − 0.016
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (88.18)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
1AA2A 235 0 220 4 4 − 18 270 62 − 13.5 0 45 110 57.5

200 − 0.046 42 − 0.016
(9.25) (8.66) (0.16) (0.16) (0.71) (10.63) (2.44) (0.53) (1.77) (4.33) (126.73)
0 0
(7.87 − 0.0018) (1.65 − 0.0006)
1EA2A 235 0 220 4 4 − 20 270 85 − 13.5 + 0.030 65 110 86

200 − 0.046 55 + 0.011
(9.25) (8.66) (0.16) (0.16) (0.79) (10.63) (3.35) (0.53) (2.56) (4.33) (189.6)
0 + 0.0012
(7.87 − 0.0018) (2.17 + 0.0004 )
Note: 1. An incremental encoder (8192 P/R) is used as a detector.

2. SGMG-05A to -44A2A do not contain eyebolts.
6 -59
D Connector Wiring on Detector End
Receptacle: MS3102A20-29-P
Plug (To be prepared by customer) (L type): MS3108B20-29S or
(Straight type) MS3057-12A
Cable Clamp: (To be prepared by customer) MS3057-12A
A A channel output K −−−
B A channel output L −−−
C B channel output M −−−
D B channel output N −−−
E C channel output P −−−
F C channel output R −−−
G 0V S −−−
H +5 VDC T −−−
J FG (Frame Ground)
Note: 1. Terminals K to T are not used.

2. Receptacle, plug and cable clamp are common regardless of motor capacity.
D Connector Wiring on Motor End
6 A Phase U
B Phase V
C Phase W
D Ground terminal
Note: Receptacle, plug and cable clamp differ depending on the capacity. Refer to Connectors
on Detector and Motor Ends (page 6 -129).
6 -60
With Incremental Encoder (8192 P/R) and Brake

D 0.5 to 4.4 kW
(0.0016)
(φ0.0016)
MTG
Holes
(0.0008) Unit: mm (in)

SGMG-05A2AAB to -13A2AAB SGMG-20A2AAB to -44A2AAB
6
Unit: mm (in)
Model SGMG- L LL LM LR LT KB1 KB2 KL1 KL2
05A2AAB 234 176 129 58 47 56 155 120 88

(9.21) (6.93) (5.08) (2.28) (1.85) (2.20) (2.20) (4.72) (3.46)
09A2AAB 257 199 152 58 47 79 178 120 88

(10.12) (7.83) (5.98) (2.28) (1.85) (3.11) (7.01) (4.72) (3.46)
13A2AAB 281 223 176 58 47 103 202 120 88

(11.06) (8.78) (6.93) (2.28) (1.85) (4.06) (7.95) (4.72) (3.46)
20A2AAB 296 217 170 79 47 79 196 146 88

(11.65) (8.54) (6.69) (3.11) (1.85) (3.11) (7.72) (5.75) (3.46)
30A2AAB 322 243 196 79 47 105 222 146 88

(12.68) (9.57) (7.72) (3.11) (1.85) (4.13) (8.74) (5.75) (3.46)
44A2AAB 356 277 230 79 47 139 256 146 88

(14.02) (10.91) (9.06) (3.11) (1.85) (5.47) (10.08) (5.75) (3.46)
6 -61
Unit: mm (in)

SGMG-
SGMG Mass
kg
(lb)
05A2AAB 145 0 130 6 6 − 12 165 45 − 9 0 30 40 7.5

110 − 0.035 19 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.5) (1.77) (0.35) (1.18) (1.57) (16.53)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
09A2AAB 145 0 130 6 6 − 12 165 45 − 9 0 30 40 9.6

110 − 0.035 19 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.5) (1.77) (0.35) (1.18) (1.57) (21.16)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
13A2AAB 145 0 130 6 6 − 12 165 45 − 9 0 30 40 12

110 − 0.035 22 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.5) (1.77) (0.35) (1.18) (1.57) 26.45)
0 0
(4.33 − 0.0014) (0.87 − 0.0005)
20A2AAB 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 19

114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (41.88)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
30A2AAB 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 23.5

114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (51.79)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
44A2AAB 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 28.5

114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (62.81)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
6 Note: An incremental encoder (8192 P/R) is used as a detector.
A Phase U E Brake terminal
B Phase V F Brake terminal
C Phase W G −−−
D FG (Frame Ground)
6 -62
D 5.5 to 15 kW
0.06 A
For 1AA2AAB and
1EA2AAB only
(0.0016)
(φ0.0016)
0.04 MTG
(0.0016)
Holes
Unit: mm (in)

SGMG-55A2AAB and -75A2AAB SGMG-1AA2AAB and -1EA2AAB
Unit: mm (in) 6
Model L LL LM LR LT KB1 KB2 KB3 IE KL1 KL2 KL3
SGMG-
55A2AAB 424 311 264 113 47 174 290 231 125 150 88 123
(16.69) (12.24) (10.39) (4.45) (1.85) (6.85) (11.42) (9.09) (4.92) (5.91) (3.46) (4.84)
75A2AAB 498 385 338 113 47 248 364 305 125 150 88 123
(19.61) (15.16) (13.31) (4.45) (1.85) (9.76) (14.33) (12.01) (4.92) (5.91) (3.46) (4.84)
1AA2AAB 499 383 340 116 43 258 362 315 142 168 88 142
(19.65) (15.08) (13.39) (4.57) (1.69) (10.16) (14.25) (12.40) (5.59) (6.61) (3.46) (5.59)
1EA2AAB 635 519 473 116 46 343 497 415 142 168 88 142
(25.00) (20.43) (18.62) (4.57) (1.81) (13.50) (19.57) (16.34) (5.59) (6.61) (3.46) (5.59)
6 -63
Unit: mm (in)

SGMG-
SGMG Mass
kg
(lb)
55A2A 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 35

114.3 − 0.025 42 − 0.016
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (77.14)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
75A2A 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 45.5

114.3 − 0.025 42 − 0.016
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (100.28)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
1AA2A 235 0 220 4 4 − 18 270 62 − 13.5 0 45 110 65

200 − 0.046 42 − 0.016
AB (9.25) (8.66) (0.16) (0.16) (0.71) (10.63) (2.44) (0.53) (1.77) (4.33) (143.26)
0 0
(7.87 − 0.0018) (1.65 − 0.0006)
1EA2A 235 0 220 4 4 − 20 270 85 − 13.5 + 0.030 65 110 100

200 − 0.046 55 + 0.011
AB (9.25) (8.66) (0.16) (0.16) (0.79) (10.63) (3.35) (0.53) (2.56) (4.33) (220.46)
0 + 0.0012
(7.87 − 0.0018) (2.17 + 0.0004 )
Note: An incremental encoder (8192 P/R) is used as a detector.
D Connector Wiring on Brake and Motor Ends
A Brake terminal
B Brake terminal
6 C −−−
A Phase U
B Phase V
C Phase W
D Frame ground (FG)
6 -64
With Absolute Encoder (15-bit : 8192 P/R)
0.06 A
For 1AASA and
1EASA only
(0.0016)
(φ0.0016)
(0.0008) MTG
Holes
0.04
(0.0016)
For 55ASA, 75ASA,
1AASA and 1EASA only
Unit: mm (in)

SGMG-05ASA to -13ASA, -1AASA and -1EASA SGMG-20ASA to -75ASA
6
Unit: mm (in)
05ASA 210 152 92 58 60 65 131 − 109 88

(8.27) (5.98) (3.62) (2.28) (2.36) (2.56) (5.16) (4.29) (3.46)
09ASA 233 175 115 58 60 88 154 − 109 88

(9.17) (6.89) (4.53) (2.28) (2.36) (3.46) (6.06) (4.29) (3.46)
13ASA 257 199 139 58 60 112 178 − 109 88

(10.12) (7.83) (5.47) (2.28) (2.36) (4.41) (7.01) (4.29) (3.46)
20ASA 259 180 119 79 61 89 159 − 140 88

(10.20) (7.09) (4.69) (3.11) (2.40) (3.50) (6.26) (5.51) (3.46)
30ASA 285 206 145 79 61 115 185 − 140 88

(11.22) (8.11) (5.71) (3.11) (2.40) (4.53) (7.28) (5.51) (3.46)
44ASA 319 240 179 79 61 149 219 − 140 88

(12.56) (9.45) (7.05) (3.11) (2.40) (5.87) (8.62) (5.51) (3.46)
6 -65
Unit: mm (in)
55ASA 387 274 213 113 61 174 253 125 150 88

(15.24) (10.79) (8.39) (4.45) (2.40) (6.85) (9.96) (4.92) (5.91) (3.46)
75ASA 461 348 287 113 61 248 327 125 150 88

(18.15) (13.70) (11.30) (4.45) (2.40) (9.76) (12.87) (4.92) (5.91) (3.46)
1AASA 468 352 291 116 61 251 331 142 168 88

(18.43) (13.86) (11.46) (4.57) (2.40) (9.88) (13.03) (5.59) (6.61) (3.46)
1EASA 587 471 388 116 83 343 449 142 168 88

(23.11) (18.54) (15.28) (4.57) (3.27) (13.50) (17.68) (5.59) (6.61) (3.46)

SGMG-
SGMG Mass
kg
(lb)
05ASA 145 0 130 6 6 − 12 165 45 − 9 0 30 40 5.9

110 − 0.035 19 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (13.00)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
09ASA 145 0 130 6 6 − 12 165 45 − 9 0 30 40 8.0
110 − 0.035 19 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (17.63)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
13ASA 145 0 130 6 6 − 12 165 45 − 9 0 30 40 10
110 − 0.035 22 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (22.04)
0 0
(4.33 − 0.0014) (0.87 − 0.0005)
6 20ASA 200
(7.87)
0
114.3 − 0.025
180
(7.09)
3.2
(0.13)
3
(0.12)
0.5
(0.0197)
18
(0.71)
230
(9.06)
76
(2.99)
62
(2.44)
13.5
(0.53)
35
+ 0.01
0
45
(1.77)
76
(2.99)
14
(30.86)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
30ASA 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 18.5
114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (40.77)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
44ASA 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 24
114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (52.90)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
55ASA 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 30
114.3 − 0.025 42 − 0.016
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (66.12)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
75ASA 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 40

114.3 − 0.025 42 − 0.016
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (88.16)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
1AASA 235 0 220 4 4 − 18 270 62 − 13.5 0 45 110 58

200 − 0.046 42 − 0.016
(9.25) (8.66) (0.16) (0.16) (0.71) (10.63) (2.44) (0.53) (1.77) (4.33) (127.83)
0 0
(7.87 − 0.0018) (1.65 − 0.0006)
1EASA 235 0 220 4 4 − 20 270 85 − 13.5 + 0.030 65 110 86
200 − 0.046 55 + 0.011
(9.25) (8.66) (0.16) (0.16) (0.79) (10.63) (3.35) (0.53) (2.56) (4.33) (189.6)
0 + 0.0012
(7.87 − 0.0018) (2.17 + 0.0004 )
Note: 1. An absolute encoder (15-bit : 8192 P/R) is used as a detector.

2. SGMG-05ASA to -44ASA do not contain eyebolts.
6 -66
Receptacle: MS3102A20-29P
(Straight type) MS3106B20-29
E Z (C) channel output P −−−
F Z (C) channel output R Reset
G 0 V (battery) S 0V
H +5 VDC T 3.6 V (battery)
J FG (Frame Ground)
Note: 1. Terminals K to P are not used. Do not connect anything.

A Phase U
6
B Phase V
C Phase W
D Ground terminal
6 -67
With Absolute Encoder (15-bit : 8192 P/R) and Brake

D 0.5 to 4.4 kW
0.06 A
For 1AA2A and
1EA2A only
(0.0016)
(φ0.0016)
MTG
(0.0008) Holes
Unit: mm (in)

SGMG-05ASAAB to -13ASAAB SGMG-20ASAAB to -44ASAAB
6
Unit: mm (in)
05ASAAB 248 190 129 58 61 56 169 120 88

(9.76) (7.48) (5.08) (2.28) (2.40) (2.20) (6.65) (4.72) (3.46)
09ASAAB 271 213 152 58 61 79 (3.11) 192 120 88

(10.67) (8.39) (5.98) (2.28) (2.40) (7.56) (4.72) (3.46)
13ASAAB 295 237 176 58 61 103 216 120 88

(11.61) (9.33) (6.93) (2.28) (2.40) (4.06) (8.50) (4.72) (3.46)
20ASAAB 310 231 170 79 (3.11) 61 79 (3.11) 210 146 88

(12.20) (9.09) (6.69) (2.40) (8.27) (5.75) (3.46)
30ASAAB 336 257 196 79 (3.11) 61 105 236 146 88

(13.23) (10.12) (7.72) (2.40) (4.13) (9.29) (5.75) (3.46)
44ASAAB 370 291 230 79 (3.11) 61 139 270 146 88

(14.57) (11.46) (9.06) (2.40) (5.47) (10.63) (5.75) (3.46)
6 -68
Unit: mm (in)

SGMG
SGMG- Mass
kg
(lb)
05ASA 145 0 130 6 6 − 12 165 45 − 9 0 30 40 7.9

110 − 0.035 19 − 0.013
AB (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (17.41)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
09ASA 145 0 130 6 6 − 12 165 45 − 9 0 30 40 10
110 − 0.035 19 − 0.013
AB (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (22.04)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
13ASA 145 0 130 6 6 − 12 165 45 − 9 0 30 40 12
110 − 0.035 22 − 0.013
AB (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (26.45)
0 0
(4.33 − 0.0014) (0.87 − 0.0005)
20ASA 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 19.5

114.3 − 0.025 35 0
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (42.98)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
30ASA 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 23.5
114.3 − 0.025 35 0
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (51.79)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
44ASA 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 29
114.3 − 0.025 35 0
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (63.92)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
Note: An absolute encoder (15-bit : 8192 P/R) is used as a detector.

6
D Frame ground (FG)
D 5.5 to 15 kW
0.06 A
For 1AASAAB and
1EASAAB only
(0.0016)
(φ0.0016)
0.04 MTG
(0.0016) Holes
Unit: mm (in)
6 -69

SGMG-55ASAAB and -75ASAAB SGMG-1AASAAB and -1EASAAB
Unit: mm (in)

SGMG-
55ASAAB 438 325 264 113 61 174 304 231 125 150 88 123
(17.24) (12.80) (10.39) (4.45) (2.40) (6.85) (11.97) (9.09) (4.92) (5.91) (3.46) (4.84)
75ASAAB 512 399 338 113 61 248 378 305 125 150 88 123
(20.16) (15.71) (13.31) (4.45) (2.40) (9.76) (14.88) (12.01) (4.92) (5.91) (3.46) (4.84)
1AASAAB 513 397 340 116 57 258 376 315 142 168 88 142
(20.20) (15.63) (13.39) (4.57) (2.24) (10.16) (14.80) (12.40) (5.59) (6.61) (3.46) (5.59)
1EASAAB 649 533 473 116 60 343 511 415 142 168 88 142
(25.53) (20.98) *18.62) (4.57) (2.36) (13.50) (20.12) (16.39) (5.59) (6.61) (3.46) (5.59)

SGMG
SGMG- Mass
6 LA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ S S1 Q
kg
(lb)
55ASA 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 36

114.3 − 0.025 42 − 0.016
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (79.34)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
75ASA 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 50

114.3 − 0.025 42 − 0.016
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (110.20)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
1AASA 235 0 220 4 4 − 18 270 62 − 13.5 0 45 110 65.5

200 − 0.046 42 − 0.016
AB (9.25) (8.66) (0.16) (0.16) (0.71) (10.63) (2.44) (0.53) (1.77) (4.33) (144.36)
0 0
(7.87 − 0.0018) (1.65 − 0.0006)
1EASA 235 0 220 4 4 − 20 270 85 − 13.5 + 0.030 65 110 100

200 − 0.046 55 + 0.011
AB (9.25) (8.66) (0.16) (0.16) (0.79) (10.63) (3.35) (0.53) (2.56) (4.33) (220.46)
0 + 0.0012
(7.87 − 0.0018) (2.17 + 0.0004 )
6 -70
D Connector Wiring on Brake and Motor End
A Brake terminal
B Brake terminal
C −−−
A Phase U
B Phase V
C Phase W
D Frame ground (FG)
J SGMG-jjAjB Servomotors (1000 r/min)
(0.0016)
(φ0.0016)
6
(0.0008)
MTG
Holes
0.04
(0.0016)
For 44A2B and Unit: mm (in)
60A2B only

SGMG-03A2B to -09A2B SGMG-12A2B to -60A2B
6 -71
Unit: mm (in)
03A2B 196 138 92 58 46 65 117 − 109 88

(7.72) (5.43) (3.62) (2.28) (1.81) (2.56) (4.61) (4.29) (3.46)
06A2B 219 161 115 58 46 88 140 − 109 88

(8.62) (6.34) (4.53) (2.28) (1.81) (3.46) (5.51) (4.29) (3.46)
09A2B 243 185 139 58 46 112 164 − 109 88

(9.57) (7.28) (5.47) (2.28) (1.81) (4.41) (6.46) (4.29) (3.46)
12A2B 245 166 119 79 47 89 145 − 140 88

(9.65) (6.54) (4.69) (3.11) (1.85) (3.50) (5.71) (5.51) (3.46)
20A2B 271 192 145 79 47 115 171 − 140 88

(10.67) (7.56) (5.71) (3.11) (1.85) (4.53) (6.73) (5.51) (3.46)
30A2B 305 226 179 79 47 149 205 − 140 88

(12.01) (8.90) (7.05) (3.11) (1.85) (5.87) (8.07) (5.51) (3.46)
44A2B 373 260 213 113 47 174 239 125 150 88

(14.69) (10.24) (8.39) (4.45) (1.85) (6.85) (9.41) (4.92) (5.91) (3.46)
60A2B 447 334 287 113 47 248 313 125 150 88

(17.60) (13.15) (11.30) (4.45) (1.85) (9.76) (12.32) (4.92) (5.91) (3.46)

SGMG
SGMG- Mass
kg
(lb)
03A2B 145 0 130 6 6 − 12 165 45 − 9 0 30 40 5.5

110 − 0.035 19 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (12.12)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
06A2B 145 0 130 6 6 − 12 165 45 − 9 0 30 40 7.6

110 − 0.035 19 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (16.75)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
09A2B 145 0 130 6 6 − 12 165 45 − 9 0 30 40 9.6

110 − 0.035 22 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (21.16)
0 0
(4.33 − 0.0014) (0.87 − 0.0005)
12A2B 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 14

114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (30.86)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
20A2B 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 18

114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (39.62)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
30A2B 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 23

114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (50.69)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
6 -72
Unit: mm (in)

SGMG
SGMG- Mass
kg
(lb)
44A2B 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 30

114.3 − 0.025 42 − 0.016
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (66.12)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
60A2B 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 40

114.3 − 0.025 42 − 0.016
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (88.16)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)

2. SGMG-03A2B to -30A2B do not contain eyebolts.
Receptacle: MS3102A20-29-P
(Straight type) MS3106B20-29S

6
G 0V S −−−
H +5 VDC T −−−
J FG (Frame Ground)

A Phase U
B Phase V
C Phase W
D Ground terminal
6 -73

D 0.3 to 3.0 kW
(0.0016)
(φ0.0016)
MTG
(0.0008) Holes
Unit: mm (in)

SGMG-03A2BAB to -09A2BAB SGMG-12A2BAB to -30A2BAB
6
Unit: mm (in)
03A2BAB 234 176 129 58 (2.28) 47 (1.85) 56 (2.20) 155 120 88 (3.46)
(9.21) (6.93) (5.08) (6.10) (4.72)
06A2BAB 257 199 152 58 (2.28) 47 (1.85) 79 178 120 88 (3.46)

(10.12) (7.83) (5.98) (3.11) (7.01) (4.72)
09A2BAB 281 223 176 58 (2.28) 47 (1.85) 103 202 120 88 (3.46)
(11.06) (8.78) (6.93) (4.06) (7.95) (4.72)
12A2BAB 296 217 170 79 47 (1.85) 79 196 146 88 (3.46)

(11.65) (8.54) (6.69) (3.11) (3.11) (7.72) (5.75)
20A2BAB 322 243 196 79 47 (1.85) 105 222 146 88 (3.46)

(12.68) (9.57) (7.72) (3.11) (4.13) (8.74) (5.75)
30A2BAB 356 277 230 79 47 (1.85) 139 256 146 88 (3.46)

(14.02) (10.91) (9.06) (3.11) (5.47) (10.08) (5.75)
6 -74
Unit: mm (in)

SGMG-
SGMG Mass
kg
(bl)
03A2B 145 0 130 6 6 − 12 165 45 − 9 0 30 40 7.5

110 − 0.035 19 − 0.013
AB (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (16.53)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
06A2B 145 0 130 6 6 − 12 165 45 − 9 0 30 40 9.6

110 − 0.035 19 − 0.013
AB (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (21.16)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
09A2B 145 0 130 6 6 − 12 165 45 − 9 0 30 40 12

110 − 0.035 22 − 0.013
AB (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (26.45)
0 0
(4.33 − 0.0014) (0.87 − 0.0005)
12A2B 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 19

114.3 − 0.025 35 0
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (41.88)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
20A2B 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 23.5

114.3 − 0.025 35 0
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (13.5) (1.77) (2.99) (51.79)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
30A2B 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 28.5

114.3 − 0.025 35 0
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (62.81)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )

6
D Frame ground (FG)
6 -75
D 4.4 to 6.0 kW
(0.0016)
(φ0.0016)
0.04 MTG
(0.0016) Holes
Unit: mm (in)
6
Unit: mm (in)

SGMG-
44A2BAB 424 311 264 113 47 174 290 231 125 150 88 123
(16.69) (12.24) (10.39) (4.45) (1.85) (6.85) (11.42) (9.09) (4.92) (5.91) (3.46) (4.84)
60A2BAB 498 385 338 113 47 248 364 305 125 150 88 123
(19.61) (15.16) (13.31) (4.45) (1.85) (9.76) (14.33) (12.01) (4.92) (5.91) (3.46) (4.84)

SGMG-
SGMG Mass
kg
(lb)
44A2B 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 35

114.3 − 0.025 42 − 0.016
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (77.14)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
60A2B 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 45.5

114.3 − 0.025 42 − 0.016
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (100.28)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
6 -76
A Brake terminal
B Brake terminal
C −−−
A Phase U
B Phase V
C Phase W
D Frame ground (FG)
(0.0016)
(φ0.0016)
(3.94)
(0.0008)
MTG 6
Holes
0.04
(0.0016)
For 44ASB and Unit: mm (in)
60ASB only

SGMG-03ASB to -09ASB SGMG-12ASB to -60ASB
6 -77
Unit: mm (in)
03ASB 210 152 92 58 60 65 131 − 109 88

(8.27) (5.98) (3.62) (2.28) (2.36) (2.56) (5.16) (4.29) (3.46)
06ASB 233 175 115 58 60 88 154 − 109 88

(9.17) (6.89) (4.53) (2.28) (2.36) (3.46) (6.06) (4.29) (3.46)
09ASB 257 199 139 58 60 112 178 − 109 88

(10.12) (7.83) (5.47) (2.28) (2.36) (4.41) (7.01) (4.29) (3.46)
12ASB 259 180 119 79 61 89 159 − 140 88

(10.20) (7.09) (4.69) (3.11) (2.40) (3.50) (6.26) (5.51) (3.46)
20ASB 285 206 145 79 61 115 185 − 140 88

(11.22) (8.11) (5.71) (3.11) (2.40) (4.53) (7.28) (5.51) (3.46)
30ASB 319 240 179 79 61 149 219 − 140 88

(12.56) (9.45) (7.05) (3.11) (2.40) (5.87) (8.62) (5.51) (3.46)
44ASB 387 274 213 113 61 174 253 125 150 88

(15.24) (10.79) (8.39) (4.45) (2.40) (6.85) (9.96) (4.92) (5.91) (3.46)
60ASB 461 348 287 113 61 248 327 125 150 88

(18.15) (13.70) (11.30) (4.45) (2.40) (9.76) (12.87) (4.92) (5.91) (3.46)

SGMG
SGMG- Mass
kg
(lb)
03ASB 145 0 130 6 6 − 12 165 45 − 9 0 30 40 5.9

110 − 0.035 19 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (13.00)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
06ASB 145 0 130 6 6 − 12 165 45 − 9 0 30 40 8.0

110 − 0.035 19 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (17.63)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
09ASB 145 0 130 6 6 − 12 165 45 − 9 0 30 40 10

110 − 0.035 22 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (22.04)
0 0
(4.33 − 0.0014) (0.87 − 0.0005)
12ASB 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 14

114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (30.86)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
20ASB 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 18.5

114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (40.77)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
30ASB 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 24

114.3 − 0.025 35 0
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (52.90)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
6 -78
Unit: mm (in)

SGMG
SGMG- Mass
kg
(lb)
44ASB 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 30

114.3 − 0.025 42 − 0.016
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (66.12)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
60ASB 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 40

114.3 − 0.025 42 − 0.016
(7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (88.16)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
Note: 1. An absolute encoder (15-bit : 8192 P/R) is used as a detector.

2. SGMG-03ASB to -30ASB do not contain eyebolts.

6
G 0V S 0 V (battery)
J FG (Frame Ground)
Note: 1. Terminals K to P are not used.

A Phase U
B Phase V
C Phase W
D Ground terminal
6 -79

D 0.3 to 3.0 kW
(0.0016)
(φ0.0016)
MTG
(0.0008) Holes
Unit: mm (in)
SGMG-03ASBAB to -09ASBAB SGMG-12ASBAB to -30ASBAB
Unit: mm (in)
03ASBAB 248 190 129 58 61 56 169 120 88

(9.76) (7.48) (5.08) (2.28) (2.40) (2.20) (6.65) (4.72) (3.46)
06ASBAB 271 213 152 58 61 79 192 120 88

(10.67) (8.39) (5.98) (2.28) (2.40) (3.11) (7.56) (4.72) (3.46)
09ASBAB 295 237 176 58 61 103 216 120 88

(11.61) (9.33) (6.93) (2.28) (2.40) (4.06) (8.50) (4.72) (3.46)
12ASBAB 310 231 170 79 61 79 210 146 88

(12.20) (9.09) (6.69) (3.11) (2.40) (3.11) (8.27) (5.75) (3.46)
20ASBAB 336 257 196 79 61 105 236 146 88

(13.23) (10.12) (7.72) (3.11) (2.40) (4.13) (9.29) (5.75) (3.46)
30ASBAB 370 291 230 79 61 139 270 146 88

(14.57) (11.46) (9.06) (3.11) (2.40) (5.47) (10.63) (5.75) (3.46)
6 -80
Unit: mm (in)

SGMG-
SGMG Mass
kg
(lb)
03ASB 145 0 130 6 6 − 12 165 45 − 9 0 30 40 7.9

110 − 0.035 19 − 0.013
AB (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (17.41)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
06ASB 145 0 130 6 6 − 12 165 45 − 9 0 30 40 10

110 − 0.035 19 − 0.013
AB (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (22.04)
0 0
(4.33 − 0.0014) (0.75 − 0.0005)
09ASB 145 0 130 6 6 − 12 165 45 − 9 0 30 40 12

110 − 0.035 22 − 0.013
AB (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (26.45)
0 0
(4.33 − 0.0014) (0.87 − 0.0005)
12ASB 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 19.5

114.3 − 0.025 35 0
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (42.98)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
20ASB 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 23.5

114.3 − 0.025 35 0
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (51.79)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )
30ASB 200 0 180 3.2 3 0.5 18 230 76 62 13.5 + 0.01 45 76 29

114.3 − 0.025 35 0
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (2.99) (63.92)
0 + 0.0004
(4.50 − 0.0010) (1.38 0 )

6
D Frame ground (FG)
6 -81
D 4.4 to 6.0 kW
(0.0016)
(φ0.0016)
0.04 MTG
(0.0016) Holes
Unit: mm (in)
6 Unit: mm (in)

SGMG-
44ASBAB 438 325 264 113 61 174 304 231 125 150 88 123
(17.24) (12.80) (10.39) (4.45) (2.40) (6.85) (11.97) (9.09) (4.92) (5.91) (3.46) (4.84)
60ASBAB 512 399 338 113 61 248 378 305 125 150 88 123
(20.16) (15.71) (13.31) (4.45) (2.40) (9.76) (14.88) (12.01) (4.92) (5.91) (3.46) (4.84)

SGMG
SGMG- Mass
kg
(lb)
44ASB 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 36

114.3 − 0.025 42 − 0.016
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (79.34)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
60ASB 200 0 180 3.2 3 0.5 18 230 76 62 13.5 0 45 110 50

114.3 − 0.025 42 − 0.016
AB (7.87) (7.09) (0.13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53) (1.77) (4.33) (110.20)
0 0
(4.50 − 0.0010) (1.65 − 0.0006)
6 -82
D Connector Wiring on Brake and Motor Ends
A Brake terminal
B Brake terminal
C −−−
A Phase U
B Phase V
C Phase W
D Frame ground (FG)
J SGMS-jjA Servomotors
(0.0016)
(φ0.0016)
(0.0008) MTG
Holes
Unit: mm (in)
6 -83
Unit: mm (in)
Model SGMS- L LL LM LR LT KB1 KB2 KL1 KL2
10A6A 194 149 103 45 46 76 128 96 87

(7.64) (5.87) (4.06) (1.77) (1.81) (2.99) (5.04) (3.78) (3.43)
15A6A 220 175 129 45 46 102 154 96 87

(8.66) (6.89) (5.08) (1.77) (1.81) (4.02) (6.06) (3.78) (3.43)
20A6A 243 198 152 45 46 125 177 96 87

(9.57) (7.80) (5.98) (1.77) (1.81) (4.92) (6.97) (3.78) (3.43)
30A6A 262 199 153 63 46 122 178 114 87

(10.31) (7.83) (6.02) (2.48) (1.81) (4.80) (7.01) (4.49) (3.43)
40A6A 299 236 190 63 46 159 215 114 87

(11.77) (9.29) (7.48) (2.48) (1.81) (6.26) (8.46) (4.49) (3.43)
50A6A 339 276 230 63 46 199 255 114 87

(13.35) (10.87) (9.06) (2.48) (1.81) (7.83) (10.04) (4.49) (3.43)

SGMS
SGMS- Mass
kg
LA LB LC LE LF LG LH LJ LZ S S1 Q
(lb)
10A6A 115 0 100 3 3 10 130 45 7 0 30 40 4.6

95 − 0.035 24 − 0.013
(4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (1.77) (0.28) (1.18) (1.57) (10.14)
0 0
(3.74 − 0.0014) (0.94 − 0.0005)
15A6A 115 0 100 3 3 10 130 45 7 0 30 40 5.8
95 − 0.035 24 − 0.013
(4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (1.77) (0.28) (1.18) (1.57) (12.78)
6 0
(3.74 − 0.0014)
0
(0.94 − 0.0005)
20A6A 115 0 100 3 3 10 130 45 7 0 30 40 7.0
95 − 0.035 24 − 0.013
(4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (1.77) (0.28) (1.18) (1.57) (15.43)
0 0
(3.74 − 0.0014) (0.94 − 0.0005)
30A6A 145 0 130 6 6 12 165 45 9 0 30 55 11
110 − 0.035 28 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (2.17) (24.24)
0 0
(4.33 − 0.0014) (1.10 − 0.0005)
40A6A 145 0 130 6 6 12 165 45 9 0 30 55 14
110 − 0.035 28 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (2.17) (30.86)
0 0
(4.33 − 0.0014) (1.10 − 0.0005)
50A6A 145 0 130 6 6 12 165 45 9 0 30 55 17
110 − 0.035 28 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (2.17) (37.47)
0 0
(4.33 − 0.0014) (1.10 − 0.0005)
6 -84
G 0V S −−−
H +5 VDC T −−−
J FG (Frame Ground)
Note: 1. Terminals K to T are not used. Do not connect anything.

A Phase U
6
B Phase V
C Phase W
D Ground terminal
6 -85
(0.0016)
(φ0.0016)
MTG
(0.0008)
Holes
Unit: mm (in)
Unit: mm (in)
Model L LL LM LR LT KB1 KB2 KL1 KL2

SGMS-
10A6AAB 238 193 147 45 46 67 172 100 87

(9.37) (7.60) (5.79) (1.77) (1.81) (2.64) (6.77) (3.94) (3.43)
15A6AAB 264 219 173 45 46 93 198 100 87

(10.39) (8.62) (6.81) (1.77) (1.81) (3.66) (7.80) (3.94) (3.43)
20A6AAB 287 242 196 45 46 116 221 100 87

(11.30) (9.53) (7.72) (1.77) (1.81) (4.57) (8.70) (3.94) (3.43)
30A6AAB 300 237 191 63 46 113 216 119 87

(11.81) (9.33) (7.52) (2.48) (1.81) (4.45) (8.50) (4.69) (3.43)
40A6AAB 336 274 228 63 46 150 253 119 87

(13.23) (10.79) (8.98) (2.48) (1.81) (5.91) (9.96) (4.69) (3.43)
50A6AAB 337 314 268 63 46 190 293 119 87

(13.27) (12.36) (10.55) (2.48) (1.81) (7.48) (11.54) (4.69) (3.43)
6 -86
Unit: mm (in)

SGMS-
SGMS Mass
kg
(lb)
10A6AAB 115 0 100 3 3 10 130 45 7 0 30 40 6.0

95 − 0.035 24 − 0.013
(4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (1.77) (0.28) (1.18) (1.57) (13.22)
0 0
(3.74 − 0.0014) (0.94 − 0.0005)
15A6AAB 115 0 100 3 3 10 130 45 7 0 30 40 7.5

95 − 0.035 24 − 0.013
(4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (1.77) (0.28) (1.18) (1.57) (16.53)
0 0
(3.74 − 0.0014) (0.94 − 0.0005)
20A6AAB 115 0 100 3 3 10 130 45 7 0 30 40 8.5

95 − 0.035 24 − 0.013
(4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (1.77) (0.28) (1.18) (1.57) (18.73)
0 0
(3.74 − 0.0014) (0.94 − 0.0005)
30A6AAB 145 0 130 6 6 12 165 45 9 0 30 55 14

110 − 0.035 28 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (2.17) (30.86)
0 0
(4.33 − 0.0014) (1.10 − 0.0005)
40A6AAB 145 0 130 6 6 12 165 45 9 0 30 55 17

110 − 0.035 28 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (2.17) (37.47)
0 0
(4.33 − 0.0014) (1.10 − 0.0005)
50A6AAB 145 0 130 6 6 12 165 45 9 0 30 55 20

110 − 0.035 28 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (2.17) (44.08)
0 0
(4.33 − 0.0014) (1.10 − 0.0005)
Note: An incremental encoder (4096 P/R) is used as a detector. 6

D Frame ground (FG)
6 -87
(0.0016)
(φ0.0016)
(3.94)
(0.0008)
MTG
Holes
Unit: mm (in)
Unit: mm (in)
10ASA 208 163 103 45 60 76 142 96 87

(8.19) (6.42) (4.06) (1.77) (2.36) (2.99) (5.59) (3.78) (3.43)
15ASA 234 189 129 45 60 102 168 96 87

(9.21) (7.44) (5.08) (1.77) (2.36) (4.02) (6.61) (3.78) (3.43)
20ASA 257 212 152 45 60 125 191 96 87

(10.12) (8.35) (5.98) (1.77) (2.36) (4.92) (7.52) (3.78) (3.43)
30ASA 276 213 153 63 60 122 192 114 87

(10.87) (8.39) (6.02) (2.48) (2.36) (4.80) (7.56) (4.49) (3.43)
40ASA 313 250 190 63 60 159 229 114 87

(12.32) (9.84) (7.48) (2.48) (2.36) (6.26) (9.02) (4.49) (3.43)
50ASA 353 290 230 63 60 199 269 114 87

(13.90) (11.42) (9.06) (2.48) (2.36) (7.83) (10.59) (4.49) (3.43)
6 -88
Unit: mm (in)

SGMS
SGMS- Mass
kg
(lb)
10ASA 115 0 100 3 3 10 130 45 7 0 30 40 5.0

95 − 0.035 24 − 0.013
(4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (1.77) (0.28) (1.18) (1.57) (11.02)
0 0
(3.74 − 0.0014) (0.94 − 0.0005)
15ASA 115 0 100 3 3 10 130 45 7 0 30 40 6.2

95 − 0.035 24 − 0.013
(4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (1.77) (0.28) (1.18) (1.57) (13.66)
0 0
(3.74 − 0.0014) (0.94 − 0.0005)
20ASA 115 0 100 3 3 10 130 45 7 0 30 40 7.4

95 − 0.035 24 − 0.013
(4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (1.77) (0.28) (1.18) (1.57) (16.31)
0 0
(3.74 − 0.0014) (0.94 − 0.0005)
30ASA 145 0 130 6 6 12 165 45 9 0 30 55 11.5

110 − 0.035 28 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (2.17) (25.35)
0 0
(4.33 − 0.0014) (1.10 − 0.0005)
40ASA 145 0 130 6 6 12 165 45 9 0 30 55 14.5

110 − 0.035 28 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (2.17) (31.96)
0 0
(4.33 − 0.0014) (1.10 − 0.0005)
50ASA 145 0 130 6 6 12 165 45 9 0 30 55 17.5

110 − 0.035 28 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (2.17) (38.57)
0 0
(4.33 − 0.0014) (1.10 − 0.0005)
Note: An absolute encoder (15-bit : 8192 P/R) is used as a detector. 6

J FG (Frame Ground)
6 -89
Note: 1. Terminals K to P are not used. Do not connect anything.

A Phase U
B Phase V
C Phase W
D Ground terminal
(0.0016)
(φ0.0016)
(0.0008) MTG
6 Holes
Unit: mm (in)
Unit: mm (in)
10ASAAB 252 207 147 45 60 67 186 100 87

(9.92) (8.15) (5.79) (1.77) (2.36) (2.64) (7.32) (3.94) (3.43)
15ASAAB 278 233 173 45 60 93 212 100 87

(10.94) (9.17) (6.81) (1.77) (2.36) (3.66) (8.35) (3.94) (3.43)
20ASAAB 301 256 196 45 60 116 235 100 87

(11.85) (10.08) (7.72) (1.77) (2.36) (4.57) (9.25) (3.94) (3.43)
6 -90
Unit: mm (in)
30ASAAB 314 251 191 63 60 113 230 119 87

(12.36) (9.88) (7.52) (2.48) (2.36) (4.45) (9.06) (4.69) (3.43)
40ASAAB 350 288 228 63 60 150 267 119 87

(13.78) (11.34) (8.98) (2.48) (2.36) (5.91) (10.51) (4.69) (3.43)
50ASAAB 391 328 268 63 60 190 307 119 87

(15.39) (12.91) (10.55) (2.48) (2.36) (7.48) (12.09) (4.69) (3.43)

SGMS
SGMS- Mass
kg
(lb)
10ASAAB 115 0 100 3 3 10 130 45 7 0 30 40 6.5

95 − 0.035 24 − 0.013
(4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (1.77) (0.28) (1.18) (1.57) (14.33)
0 0
(3.74 − 0.0014) (0.94 − 0.0005)
15ASAAB 115 0 100 3 3 10 130 45 7 0 30 40 8.0

95 − 0.035 24 − 0.013
(4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (1.77) (0.28) (1.18) (1.57) (17.63)
0 0
(3.74 − 0.0014) (0.94 − 0.0005)
20ASAAB 115 0 100 3 3 10 130 45 7 0 30 40 9.0

95 − 0.035 24 − 0.013
(4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (1.77) (0.28) (1.18) (1.57) (19.84)
0 0
(3.74 − 0.0014) (0.94 − 0.0005)
30ASAAB 145 0 130 6 6 12 165 45 9 0 30 55 14.5

110 − 0.035 28 − 0.013
6
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (2.17) (31.96)
0 0
(4.33 − 0.0014) (1.10 − 0.0005)
40ASAAB 145 0 130 6 6 12 165 45 9 0 30 55 17.5

110 − 0.035 28 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (2.17) (38.57)
0 0
(4.33 − 0.0014) (1.10 − 0.0005)
50ASAAB 145 0 130 6 6 12 165 45 9 0 30 55 20.5

110 − 0.035 28 − 0.013
(5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (2.17) (45.18)
0 0
(4.33 − 0.0014) (1.10 − 0.0005)
D Frame ground (FG)
6 -91
J SGMD-jjA Servomotors

The dimensional drawing is the same for these types. Only approximate mass differs.
(0.0016)
(φ0.0016)
(3.94)
(0.0008) MTG
Holes
Unit: mm (in)
Unit: mm (in)
Model SGMD- L LL LM LR LT KB1 KB2 KL1 KL2
22A6A 242 187 144 55 43 70 166 165 88

(9.53) (7.36) (5.67) (2.17) (1.69) (2.76) (6.54) (6.50) (3.46)
32A6A 254 199 156 55 43 82 178 165 88

(10.00) (7.83) (6.14) (2.17) (1.69) (3.23) (7.01) (6.50) (3.46)
40A6A 274 209 166 65 43 92 188 165 88

(10.79) (8.23) (6.54) (2.56) (1.69) (3.62) (7.40) (6.50) (3.46)
6 -92
Unit: mm (in)
Model Flange Dimensions Shaft End Dimensions Approx. Mass

SGMD- kg (lb)
LA LB LC LE LF LG LH LJ LZ S S1 Q without with
brake brake
22A6A 235 0 220 4 4 18 270 62 13.5 0 45 50 15.5 20.5

200 − 0.046 28 − 0.013
(9.25) (8.66) (0.16) (0.16) (0.71) (10.63) (2.44) (0.53) (1.77) (1.97) (34.16) (45.18)
0 0
(7.87 − 0.0018) (1.10 − 0.0005)
32A6A 235 0 220 4 4 18 270 62 13.5 0 45 50 18.5 23.5

200 − 0.046 28 − 0.013
(9.25) (8.66) (0.16) (0.16) (0.71) (10.63) (2.44) (0.53) (1.77) (1.97) (40.77) (51.79)
0 0
(7.87 − 0.0018) (1.10 − 0.0005)
40A6A 235 0 220 4 4 18 270 62 13.5 0 45 60 21 26

200 − 0.046 32 − 0.016
(9.25) (8.66) (0.16) (0.16) (0.71) (10.63) (2.44) (0.53) (1.77) (2.36) (46.28) (57.30)
0 0
(7.87 − 0.0018) (1.26 − 0.0006)

2. For SGMD Servomotors with brake, the product model number ends with “AB”.

6
G 0V S −−−
H +5 VDC T −−−
J FG (Frame Ground)

6 -93
D Frame ground (FG)
Note: E and F are only used with the brake.
With Absolute Encoder (12-bit: 1024 P/R)
With Absolute Encoder (12-bit: 1024 P/R) and Brake

These dimensional drawing is the same for these types. Only approximate mass differs.
6 (0.0016)
(φ0.0016)
(0.0008) MTG
Holes Unit: mm (in)
6 -94
Unit: mm (in)
Model SGMD- L LL LM LR LT KB1 KB2 KL1 KL2
22AWA 256 201 144 55 57 70 180 165 88

(10.08) (7.91) (5.67) (2.17) (2.24) (2.76) (7.09) (6.50) (3.46)
32AWA 268 213 156 55 57 82 192 165 88

(10.55) (8.39) (6.14) (2.17) (2.24) (3.23) (7.56) (6.50) (3.46)
40AWA 288 223 166 65 57 92 202 165 88

(11.34) (8.78) (6.54) (2.56) (2.24) (3.62) (7.95) (6.50) (3.46)
Model Flange Dimensions Shaft End Dimensions Approx. Mass

SGMD- kg (lb)
LA LB LC LE LF LG LH LJ LZ S S1 Q without with
brake brake
22AWA 235 0 220 4 4 18 270 62 13.5 0 45 50 15.5 20.5

200 − 0.046 28 − 0.013
(9.25) (8.66) (0.16) (0.16) (0.71) (10.63) (2.44) (0.53) (1.77) (1.97) (34.16) (45.18)
0 0
(7.87 − 0.0018) (1.10 − 0.0005)
32AWA 235 0 220 4 4 18 270 62 13.5 0 45 50 18.5 23.5

200 − 0.046 28 − 0.013
(9.25) (8.66) (0.16) (0.16) (0.71) (10.63) (2.44) (0.53) (1.77) (1.97) (40.77) (51.79)
0 0
(7.87 − 0.0018) (1.10 − 0.0005)
40AWA 235 0 220 4 4 18 270 62 13.5 0 45 60 21 26.5

200 − 0.046 32 − 0.016
(9.25) (8.66) (0.16) (0.16) (0.71) (10.63) (2.44) (0.53) (1.77) (2.36) (46.28) (58.41)
0 0
(7.87 − 0.0018) (1.26 − 0.0006)
Note: 1. An absolute encoder (12-bit : 1024 P/R) is used as a detector. 6

2. For SGMD Servomotors with brake, the product model number ends with “AB”.
6 -95

A A channel output K S channel output
B A channel output L S channel output
J FG (Frame Ground)
Note: 1. Terminals M to P are not used. Do not connect anything.


6 Plug (To be prepared by customer) (L type): MS3108B24-10S or
D Frame ground (FG)
Note: E and F are only used with the brake.
6 -96
J SGM Servomotors
With Incremental Encoder (2048 P/R) and without Brake

D 400 W
Encoder Lead 300¦30 (11.80±1.18)
UL2854
35 (1.38)
Encoder Plug
Motor Lead (Teflon-coated line) U

AWG22, UL1828 or UL3534 Motor Plug
Protective Tube φ6 (0.24)
W
(black)
300¦30 (11.80±1.18) T
0.04 A Screw
L Cross Section Y-Y
(0.0016)
LL 30 (1.18)
34 (1.34) LM 3 (0.12) φ0.04 A 60 (2.36)
5.2 7.5 (0.30) 12 (0.47)
(φ0.0016)
−0.011
(0.20) 4.5 (0.18) 6 (0.24)
0
φ14
QK
60 (2.36)
Y φ70
−0.025
0
Y φ50
A
Incremental Encoder 2048 P/R 0.02
4-R5.3
(0.0008) 4-φ5.5 MTG Holes
Unit: mm (in)
6
Model L LL LM QK U W T Output Approx. Allowable Allowable
SGM- W (HP) Mass Radial Load Thrust Load
kg (lb) N (lb) N (lb)
04A312 154.5 124.5 90.5 No key 400 1.7 (3.745) 245 (55) 74 (16)
(6 08)
(6.08) (4 90)
(4.90) (3 56)
(3.56) (0 54)
(0.54)
04A314 20 3 5 5
(0.79) (0.12) (0.20) (0.20)

2. Model 04A314 is fitted with a key. The keyway conforms to JIS B 1301-1976 (precision). A parallel key is supplied.
3. The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.
6 -97
D 750 W
Encoder Lead 300¦30 (11.80±1.18)
UL2854
35 (1.38)
Encoder Plug
U
Motor Lead (Teflon-coated line)
W
Protective Tube
φ6 (0.24) (0.0016) T
300¦30 (11.80±1.18) Screw
(black) 0.04 A
185 (7.28) Cross Section Y-Y
145 (5.71) 40 (1.57)
φ0.04 A
34 (1.34) 111 (4.37) 3 (0.12)
10.4 (0.41) 15 (0.59) (φ0.0016) 80 (3.15)
5.2
(0.20) 7 (0.28) 8 (0.31) QK
−0.011
0
Y
80 (3.15)
φ16
φ90
−0.030
0
φ70
Y
35
(1.38)
A
Incremental Encoder 2048 P/R 0.02 4-φ7 MTG Holes 4-R8.2
(0.0008) Unit: mm (in)
Model QK U W T Output Approx. Allowable Allowable

6 kg (lb) N (lb) N (lb)
08A312 No key 750 (1.01) 3.4 (7.496) 392 147
08A314 30 (1.18) 3 (0.12) 5 (0.20) 5 (0.20)

2. Model 08A314 is fitted with a key. The keyway conforms to JIS B 1301-1976 (precision). A parallel key is supplied.
6 -98
D Details of Motor and Encoder Plugs (400 W, 750 W)

Motor Plug
9.8 (0.39) D Motor Wiring Specifications

Plug: 172167-1 (Made by AMP)
11.8 (0.46)
9.8 (0.39)
Pin: 170360-1 or 170364-1

1 Phase U Red
Connected to
2 Phase V White
Cap: 172159-1
3 Phase W Blue
Socket: 170362-1 or 170366-1
4 FG (Frame Ground) Green
Encoder Plug
14 (0.55) D Incremental Encoder Wiring Specifications

16 (0.63)
14 (0.55)
Pin: 170359-1 or 170363-1 1 A channel output Blue

Connected to 2 A channel output Blue/Black
Cap: 172161-1 3 B channel output Yellow
4 B channel output Yellow/Black
Socket: 170361-1 or 170365-1
5 C channel output Green
6 C channel output Green/Black
7 0 V (Power Supply) Gray
8 +5 V (Power Supply) Red
9 FG (Frame Ground) Orange
6 -99

D 400 W
Encoder Lead 300¦30 (11.80±1.18)

UL2854 35 (1.38)
Encoder Plug
Motor Lead (Teflon-coated line) U

W
Protective Tube
φ6 (0.24) (black) 300¦30 (11.80±1.18) T
L Screw
LL 30 (1.18) Cross Section Y-Y
(0.0016)
38.5 (1.52) LM 3 (0.12) 0.04 A
39.5
5.2 (1.56) 7.5 (0.30) φ0.04 A
(0.20) 6 (0.24) 60 (2.36)
−0.011
Brake Lead (φ0.0016)
0
QK
φ14
Y
60 (2.36)
φ70
−0.025
(2.76)
0
φ50
Y
A
Holding Brake (Deenergization operation) 0.02
Incremental Voltage: 90 VDC 4-φ5.5 MTG Holes 4-R5.3
Encoder 2048 P/R Current consumption (reference value): 0.1 A (0.0008)
Brake holding torque = Motor rated torque Unit: mm (in)

6 SGM- W (HP) Mass Radial Load Thrust Load
04A312B 194.0 164.0 90.5 No key 400 2.2 (4.850) 245 74

(7 64)
(7.64) (6 46)
(6.46) (3 56)
(3.56) (0 54)
(0.54)
04A314B 20 3 5 5
(0.79) (0.12) (0.20) (0.20)

2. Model 04A314B is fitted with a key. The keyway conforms to JIS B 1301-1976 (precision). A parallel key is supplied.
4. Use the electromagnetic brake to hold the load in position only, and do not use it to stop the motor.
6 -100
D 750 W
300¦30 (11.80±1.18)
Encoder Lead
UL2854 35 (1.38) Encoder Plug
Motor Lead (Teflon-coated line) Motor Plug U

AWG22, UL1828 or UL3534
W
Protective Tube 300¦30 (11.80±1.18) 0.04 A
φ6 (0.24) (black) T
229.5 (9.04) (0.0016)
Screw
189.5 (7.46) 40 (1.57) Cross Section Y-Y
38.5
(1.52) 44.5 111 (4.37) 3 (0.12) φ0.04 A
5.2 (1.75) 15 (0.59)
80 (3.15)
−0.011
(φ0.0016)
(0.20) Brake
0
8 (0.31) QK
Lead
φ16
φ90
80 (3.15)
Y
(3.54)
−0.030
φ20
0
φ70
Y
35 (1.38)
A
Holding Brake (Deenergization operation) 0.02 4-φ7 MTG Holes 4-R8.2
Incremental (0.0008)
Encoder 2048 P/R Voltage: 90 VDC
Current consumption (reference value): 0.15 A Unit: mm (in)
Brake holding torque = Motor rated torque

08A312B No key 750 (1.01) 4.3 (9.480) 392 147

6
08A314B 30 (1.18) 3 (0.12) 5 (0.20) 5 (0.20)

6 -101

Motor Plug
9.8 (0.39) Plug: 172168-1 (Made by AMP) D Motor Wiring Specifications

11.8 (0.46)
9.8 (0.39)
Pin: 170360-1 or 170364-1 1 Phase U Red

Connected to 2 Phase V White
Cap: 172160-1 3 Phase W Blue
Socket: 170362-1 or 170366-1 4 FG (Frame Ground) Green
5 Brake terminal Red
Encoder Plug
14 (0.55) D Incremental Encoder Wiring Specifications
16 (0.63)
14 (0.55)

1 A channel output Blue
Pin: 170359-1 or 170363-1
2 A channel output Blue/Black
Connected to
3 B channel output Yellow
Cap: 172161-1
Socket: 170361-1 or 170365-1
7 0 V (Power Supply) Gray
6 -102
With Absolute Encoder (12-bit: 1024 P/R) and without Brake

D 400 W
Encoder Lead 300¦30 (11.80±1.18)
UL20276
35 (1.38)
Encoder Plug U
Motor Lead (Teflon-coated line) W

AWG22, UL1828 or UL3534
Protective Tube Motor Plug T
φ6 (0.24) (black) Screw
300¦30 Cross Section Y-Y
(11.80±1.18)
0.04 A
L (0.0016)
φ0.04 A
LL 30 (1.18) (φ0.0016)
55 (2.17) LM 3 (0.12)
8.5 (0.33) 7.5 (0.30) 12

60 (2.36)
−0.011
6
(0.24) QK 4-R5.3
φ70 (2.76)
0
φ14
Y
60 (2.36)
−0.025
0
φ50
Y
A
0.02
Absolute Encoder 4-φ5.5 MTG Holes
1024 P/R (0.0008)
Unit: mm (in)
Model L LL LM QK U W T Screw Output Approx. Allowable Allowable

SGM- Dimens W (HP) Mass Radial Load Thrust Load 6
ions kg (lb) N (lb) N (lb)
04AW 175.5 145.5 90.5 No key No 400 1.8 (3.968) 245 74

12 (6.91) (5.73) (3.56) screw (0.54)
04AW 20 3 5 5
14 (0.79) (0.12) (0.20) (0.20)
04AW M5
16 Depth: 8
(0.31)
Note: 1. An absolute encoder (12-bit: 1024 P/R) is used as a detector.

2. Model 04AW16 is fitted with a key. The keyway conforms to JIS B 1301-1976 (precision). A parallel key is supplied.
6 -103
D 750 W
Encoder Lead 300¦30 (11.80±1.18)

U
Motor Lead (Teflon-coated line) Motor Plug
W
AWG22, UL1828
Protective Tube T
φ6 (0.24) (black) 300¦30 (11.80±1.18) Screw
(0.0016)
0.04 A Cross Section Y-Y
206 (8.11)
166 (6.54) 40 (1.57)
(φ0.0016)
55 (2.17) 111 (4.37) 3 (0.12) φ0.04 A 80 (3.15)
10 (0.39) 10.4 (0.41) 15 (0.59)
−0.011
8 (0.31)
0
φ90 (3.54)
φ16
QK
φ20 (0.79)
80 (3.15)
φ70 −0.030
Y
0
35Y
(1.38)
A
Absolute Encoder 0.02
4-φ7 MTG Holes 4-R8.2
1024 P/R (0.0008)
Unit: mm (in)
Model QK U W T Screw Output Approx. Allowable Allowable

SGM- Dimensions W (HP) Mass Radial Load Thrust Load
08AW12 No key No screw 750 3.5 (7.716) 392 147

(1 01)
(1.01)
08AW14 30 3 5 5
6 (1 18)
(1.18) (0 12)
(0.12) (0 20)
(0.20) (0 20)
(0.20)
08AW16 M5
Depth: 8 (0.31)

2. Models 08AW14 and 08AW16 are fitted with a key. The keyway conforms to JIS B 1301-1976 (precision). A parallel key
is supplied.
4. Model 08AW16 is fitted with a tapped hole on the end of the shaft (M5 × 8L).
6 -104

Motor Plug
Plug: 172167-1 (Made by AMP) D Motor Wiring Specifications
Pin: 170360-1 or 179364-1
Connected to 1 Phase U Red
Cap: 172159-1 2 Phase V White
Socket: 170362-1 or 170366-1 3 Phase W Blue
4 FG Green
Encoder Plug

Pin: 170359-1 or 170363-1 D Absolute Encoder Wiring Specifications
Connected to
Cap: 172163-1 1 A channel output Blue
Socket: 170361-1 or 170365-1 2 A channel output White/Blue
4 B channel output White/Yellow
5 Z channel output Green
6 Z channel output White/Green
7 0 V (Power Supply) Black
9 FG (Frame Ground) Green/Yellow
10 S channel output Purple
11 S channel output White/Purple
(12)* (Capacitor Reset) (Gray)
13 Reset White/Gray
14 0 V (battery) White/Orange
15 3.6V(battery) Orange
* Terminal to discharge capacitor at time of ship-

ping. Do not use. 6
6 -105

D 400 W
Encoder Lead 300¦30 (11.80±1.18)
UL20276
35 (1.38)
Encoder Plug

Protective Tube 300¦30
φ6 (0.24) (black)
0.04 A U
L (0.0016) φ0.04 A
LL 30 (1.18) (φ0.0016)
W
55 (2.17) 39.5 (1.56) LM 3 (0.12)
T
Screw
−0.011
8.5 (0.33) 5.3 (0.21) 7.5 (0.30) 12 (0.47) Cross Section Y-Y
0
60 (2.36)
6 (0.24) QK 4-R5.3
φ14
Brake φ70 (2.76)
Lead
60 (2.36)
−0.025
0
φ50
Y
A
0.02
Absolute Encoder Holding Brake (Deenergization operation) (0.0008) 4-φ5.5 MTG Holes
1024 P/R Voltage: 90 VDC
Current consumption (reference value): 0.1 A
Unit: mm (in)
Brake holding torque = Motor rated torque

SGM- Dimen- W (HP) Mass kg (lb) Radial Load Thrust Load
6 sions N (lb) N (lb)
04AW 215.0 185.0 90.5 No key No 400 2.3 (5.071) 245 74

12B (8.46) (7.28) (3.56) screw (0.54)
04AW 20 3 5 5
14B (0.79) (0.12) (0.20) (0.20)
04AW M5
16B Depth: 8
(0.31)

2. Models 04AW14B and 04AW16B are fitted with a key. The keyway conforms to JIS B 1301-1976 (precision). A parallel
key is supplied.
5. Model 04AW16B is fitted with a tapped hole on the end of the shaft (M5 × 8L).
6 -106
D 750 W
Encoder Lead 300¦30(11.80±1.18)
U
W
T
Protective Tube
φ6 (0.24) (black) 300¦30 Screw
(0.0016)
(11.80±1.18) Cross Section Y-Y
250.5 (9.86) 0.04 A
210.5 (8.29) 40 (1.57)
(φ0.0016)
55 (2.17) 44.5 (1.75) 111 (4.37) 3 (0.12) φ0.04 A 80 (3.15)
−0.011
10 (0.39) 2.8 (0.11) 10.4 (0.41) 15 (0.59)
0
Brake 8 (0.31)
φ90 (3.54)
φ16
Lead
QK
Y
80 (3.15)
φ70 −0.030
0
φ20 (0.79)
Y
35 (1.38)
A
Absolute Encoder Holding Brake (Deenergization operation) 0.02
(0.0008) 4-φ7 MTG Holes 4-R8.2
1024 P/R Voltage: 90 VDC
Current consumption (reference value): 0.15 A
Brake holding torque = Motor rated torque Unit: mm (in)

SGM- Dimensions W (HP) Mass Radial Load Thrust Load
08AW12B No key No screw 750 4.5 (9.921) 392 147

(1 01)
(1.01)
08AW14B 30
(1 18)
(1.18)
3 (0.12) 5 (0.20) 5 (0.20) 6
08AW16B M5
Depth: 8 (0.31)

key is supplied.
4. Model 08AW16B is fitted with a tapped hole on the end of the shaft (M5 × 8L).
6 -107
D Details of Motor and Encoder Plugs (400 W, 750 W))

Motor Plug
D Motor Wiring Specifications
Plug: 172167-1 (Made by AMP) 1 Phase U Red

Pin: 170360-1 or 179364-1 2 Phase V White
Connected to 3 Phase W Blue
Cap: 172159-1 4 FG Green
Socket: 170362-1 or 170366-1
Encoder Plug D Absolute Encoder Wiring Specifications

Connected to 2 A channel output White/Blue
Socket: 170361-1 or 170365-1 4 B channel output White/Yellow
13 Reset White/Gray
14 0 V(battery) White/Orange
15 3.6 V(battery) Orange
* Terminal to discharge capacitor at time of shipping.
6 Do not use.
6 -108
J SGMP Servomotors

D 400 W
300¦30 (11.80±1.18) U
Encoder Lead
UL2854 (35) (1.38) Encoder Plug
W
(35) (1.38) Motor Plug T Screw
Motor Lead
UL2464 Cross Section Y-Y
300¦30 (11.80±1.18)
L Hex. Nut 14 (0.55)
j80 (3.15)
LL 30 (1.18)
21 (0.83)
18 (0.71)
Sealant LM
5.2 (0.20)
0.04 A
3 (0.12)
MAX
8.25 (0.32) 8 (0.31)
(0.0016) φ0.04 A
14 (0.55) (φ0.0016)
−0.011
QK
0
Y
φ14
−0.030
(3.54)
0
φ70
A
Incremental Encoder 0.02
2048 P/R 4-φ7 MTG Holes
(0.0008)
Unit: mm (in)

6
SGMP- Dimen- W (HP) Mass Radial Load Thrust Load
sions kg (lb) N (lb) N (lb)
04A312 112 82 68.1 No key No 400 2.1 (4.630) 245 68

(4 41)
(4.41) (3 23)
(3.23) (2 68)
(2.68) screw (0 54)
(0.54)
04A314 16 3 5 5
(0 63)
(0.63) (0 12)
(0.12) (0 20)
(0.20) (0 20)
(0.20)
04A316 M5
Depth: 8
(0.31)

2. Models 04A314 and 04A316 are fitted with a key. The keyway conforms to JIS B 1301-1976 (precision).
A parallel key is supplied.
4. Protective structure: IP55 (excluding connector and side of output shaft).
6 -109
D 750 W
300¦30 (11.80±1.18)
Encoder Lead
UL2854 (35) (1.38) Encoder Plug
U
Motor Lead UL2464
W
(35) (1.38) Motor Plug T
Screw
Cross Section Y-Y
300¦30 (11.80±1.18)
121.5 (4.78)
81.5 (3.21) 40 (1.57)
66.7 (2.63) Hex. Nut 14 (0.55)
0.04 A j120 (4.72)
5.2 10
(0.0016)
(0.20) 10.5 (0.39) 3.5 38 (1.50)
Sealant
28 (1.10)
(0.41) (0.14) 0.02
MAX.
A (0.0008)
4-φ10 MTG
19 (0.75) Holes
QK
Y
(5.71)
−0.035
0
φ110
−0.011
Y
0
φ16
φ0.04 A
6 Incremental Encoder 2048 P/R (φ0.0016)
4-φ10 MTG Holes
Unit: mm (in)

SGMP- Dimensions W (HP) Mass Radial Load Thrust Load
08A312 No key No screw 750 4.2 (9.259) 392 147

(1 01)
(1.01)
08A314 22 3 5 5
(0 87)
(0.87) (0 12)
(0.12) (0 20)
(0.20) (0 20)
(0.20)
08A316 M5
Depth: 8 (0.31)

6 -110
D Details of Motor and Encoder Plugs (400 W and 750 W)

Motor Plug
Pin: 170360-1 or 179364-1 1 Phase U Red
Socket: 170362-1 or 170366-1 4 FG Green/Yellow
Encoder Plug
Plug: 172169-1 (Made by AMP) D Incremental Encoder Wiring Specifications
Pin: 170359-1 or 170363-1
Connected to 1 A channel output Blue
Cap: 172161-1 2 A channel output Blue/Black
Socket: 170361-1 or 170365-1 3 B channel output Yellow
7 0V (Power Supply) Gray
8 +5V (Power Supply) Red
6 -111
D 1.5kW
Encoder Lead
UL2854,
φ6(φ0.24)
Screw
Motor Lead UL2464, φ9.5(0.37)
Cross-section Y-Y
Hex.nut
17(0.67)
Sealant
Nameplate
4-φ10
MTG
Holes
Incremental Encoder
2048 P/R Unit: mm (in)
(φ0.0016)

SGMP- Dimen- W (HP) Mass Radial Load Thrust Load
sions kg (lb) N (lb) N (lb)
15A312 No key No screw 1500 (2.02) 6.6 (14.551) 490 147

6
15A314 22 3.5 6 6 No screw
(0.87) (0.14) (0.24) (0.24)
15A316 22 3.5 6 6 M6
(0.87) (0.14) (0.24) (0.24) Depth: 10
(0.39)

2. Model “A” indicated 200V specification.
6 -112
D Details of Motor and Encoder Plugs (1.5 kW)

Motor Plug
Plug : 350779-1 (Made by AMP) D Motor Wiring Specifications

Pin: 350218-6 or 350547-6 1 Phase U Red
Socket: 350536-6 or 350550-6 4 FG (Frame Ground) Green/Yellow
Encoder Plug
D Incremental Encoder Wiring Specifications
Pin: 170359-1 or 170363-1
Connected to 1 A channel output Blue
Cap :172161-1 2 A channel output Blue/Black
Socket: 170361-1 or 170365-1 3 B channel output Yellow
6 -113

D 400 W
300¦30 (11.80±1.18)
Encoder Lead U
(35) (1.38)
UL2854 Encoder Plug
W
Motor Lead (35) (1.38) Motor Plug T
UL2464 Screw
Cross Section Y-Y
300¦30 (11.80±1.18) Hex. Nut 14 (0.55)
L
j80 (3.15)
31.5 (1.24) LL
0.04 A
18 (0.71)
Sealant LM 21 (0.83)
30 (1.18)
MAX.
(0.0016)
5.2 (0.20) 8.25 8 (0.31)
3 (0.12)
(0.32) φ0.04 A
−0.011
14 (0.55) (φ0.0016)
QK
0
φ14
Y
−0.030
(3.54)
0
φ70
Y
A
Incremental Encoder Holding Brake (Deenergization operation) 0.02 4-φ7 MTG Holes
2048 P/R Voltage: 90 VDC Unit: mm (in)
Brake holding torque = Motor rated torque (0.0008)

SGMP- W (HP) Mass Radial Load Thrust Load
04A312B 143.5 113.5 68.1 No key 400 2.6 (5.732) 245 68

6 04A314B
(5 65)
(5.65) (4 47)
(4.47) (2 68)
(2.68)
16 3 5 5
(0 54)
(0.54)
(0.63) (0.12) (0.20) (0.20)

6 -114
D 750 W
Encoder Lead UL2854 300¦30 (11.80±1.18)
(35) (1.38) Encoder Plug
U
Motor Lead
W
UL2464 (35) (1.38) Motor Plug T Screw
Cross Section Y-Y

300¦30 (11.80±1.18)
158 (6.22) MAX.
40 (1.57)
118 (4.65) MAX.
9.6 (0.38) 66.7 (2.63) Hex. Nut 17 (0.67)

Sealant 0.04 A j120 (4.72)
10.5 10 (0.0016)
(0.41) (0.39) 3.5 (0.14) 38 (1.50)
28 (1.10)
0.02
MAX.
A (0.0008)
4-φ10 MTG
19 (0.75) Holes
QK
Y
(5.71)
−0.035
0
φ110
−0.011
Y
0
φ16
Holding Brake (Deenergization operation)

φ0.04 A
Incremental Voltage: 90 VDC
6
Encoder Brake holding torque = Motor rated torque (φ0.0016) Unit: mm (in)
2048 P/R

SGMP- W (H) Mass Radial Load Thrust Load
08A312B No key 750 (1.01) 6.1 (13.448) 392 147
08A314B 22 (0.87) 3 (0.12) 5 (0.20) 5 (0.20)

6 -115
Motor Plug Plug: 172168-1 (Made by AMP) D Motor Wiring Specifications

Pin: 170360-1 or 170364-1 1 Phase U Red
Encoder Plug
D Incremental Encoder Wiring Specifications
Connected to 2 A channel output Blue/Black
Socket: 170361-1 or 170365-1 4 B channel output Yellow/Black
6 -116
D 1.5kW
Encoder Lead
UL2854, φ6(φ0.24)
Screw
Motor Lead
UL2464, Φ9.5(Φ0.37)
Cross-section Y-Y
Hex.nut
Sealant 17(0.67)
28 (1.10) MAX.
Nameplate
4-φ10
MTG
Holes
Incremental Holding Brake (deenergized operation)

encoder Voltage:Tail code B:90 VDC C:24 VDC Unit: mm (in)
2048 P/R Brake holding torque=motor rated torque
Model QK U W T Screw Output W (HP) Approx. Allowable Allowable

SGMP- Dimensions Mass kg Radial Thrust
(lb) Load Load
N (lb) N (lb)
6
15A312B No key No screw 1500 8.1 490 147
(2 02)
(2.02) (17 858)
(17.858)
15A312C
15A314B 22 3.5 6 6 No screw

(0 87)
(0.87) (0 14)
(0.14) (0 24)
(0.24) (0 24)
(0.24)
15A314C
15A316B M6,
Depth: 10 (0
(0.39)
39)
15A316C

2. Model “A” indicates 200 V specification.
3. “15A314B(C)” and “15A316B(C)” are fitted with a key. The keyway conforms to JIS B 1301-1976 (precision). A parallel
key is supplied.
6 -117

Motor Plug
D Motor Wiring Specifications
Plug : 350715-1 (Made by AMP)
1 Phase U Red
Pin: 350218-6 or 350547-6 (pins 1 to 4)
2 Phase V White
350561-1 or 350690-1 (pins 5 and 6)
3 Phase W Blue
Connected to
Cap: 350781-1
Socket: 350536-6 or 350550-6
Encoder Plug D Incremental Encoder Wiring Specifications

Pin: 170359-1 or 170363-1
2 A channel output Blue/Black
Connected to 3 B channel output Yellow
Cap :172161-1 4 B channel output Yellow/Black
Socket: 170361-1 or 170365-1 5 C channel output Green
6 -118

D 400 W
300¦30 (11.80±1.18)
Encoder Plug U
Encoder Lead (35) (1.38)
UL20276
W
Motor Lead UL2464 (35) (1.38) Motor Plug
T Screw
300¦30 (11.80±1.18)
Cross Section Y-Y
L Hex. Nut 14 (0.55)
LL j80 (3.15)
LM 0.04 A
38.4 (1.51) 30 (1.18) 21 (0.83)
18 (0.71)
12 (0.47) 8 (0.31) 3 (0.12) (0.0016)
MAX.
Sealant
8.25 (0.32)
φ0.04 A
14 (0.55) (φ0.0016)
−0.011
QK
0
Y φ14
−0.030
0
(3.54)
φ70
Y
A
Absolute Encoder 0.02 4-φ7 MTG Holes
Unit: mm (in)
1024 P/R
(0.0008)

SGMP- Dimen- W (HP) Mass kg (lb) Radial Load Thrust Load
sions N (lb) N (lb)
04AW12 136.5 106.5 68.1

(5 37)
(5.37) (4 19)
(4.19) (2 68)
(2.68)
No key − 400
(0 54)
(0.54)
2.3 (5.071) 245 68 6
04AW14 16 3 5 5
(0 63)
(0.63) (0 12)
(0.12) (0 20)
(0.20) (0 20)
(0.20)
04AW16 M5
Depth: 8
(0.31)

is supplied.
6 -119
D 750 W
Encoder Lead
UL20276
U
300¦30 (11.80±1.18)
(35) (1.38)
Encoder Plug
W
Motor Lead UL2464
T Screw
Motor Plug Cross Section Y-Y
(35)
300¦30 (11.80±1.18) (1.38)
(146) (5.75) Hex. Nut 17 (0.67)

106 (4.17) 40 j120 (4.72)
(0.0016)
Sealant 14 (0.55) 66.7 (2.63) (1.57)
28 (1.10)
0.04 A 38
10.5 10 (0.39) 3.5 0.02 (1.50)
MAX.
(0.41) 4-R6
(0.14) A (0.0008)
4-φ10 MTG
Holes
19
−0.011
(0.75)
0
QK
Y φ16
−0.035
0
φ110
Y
φ145 (5.71)
Absolute Encoder φ0.04 A Unit: mm (in)
1024 P/R (φ0.0016)

6 SGMP- W (H) Mass kg Radial Load Thrust Load
08AW12 No key 750 (1.01) 4.8 (10.582) 392 147
08AW14 22 (0.87) 3 (0.12) 5 (0.20) 5 (0.20)

2. Model 08AW14 is fitted with a key. The keyway conforms to JIS B 1301-1976 (precision). A parallel key is supplied.
6 -120

Motor Plug
Pin: 170360-1 or 170364-1
1 Phase U Red
Connected to
2 Phase V White
Cap: 172159-1
3 Phase W Blue
Socket: 170362-1 or 170366-1
Encoder Plug
Plug: 172171-1 (Made by AMP) D Absolute Encoder Wiring Specifications
Pin: 170359-1 or 170363-1
Connected to
2 A channel output White/Blue
Cap: 172163-1
Socket: 170361-1 or 170365-1
13 Reset White/Gray
* Terminal to discharge capacitor for product
dispatch. Do not use.
6 -121
D 1.5 kW
Encoder Lead
UL20276, φ8 (0.31)
300±30 (11.80±1.18)
(35) (1.38)
Screw
Motor Lead UL2464, φ9.5(0.37)

(35) (1.38)
300±30 (11.80±1.18) Cross-section Y-Y

(174) (6.85)
134 (5.28) 40 (1.57) Hex.nut
14 94.7 (3.73) 17(0.67)
(0.55)
Sealant (0.0016)
28 (1.10) MAX.
10 (0.39) 3.5
10.5 (0.41) (0.14)
Nameplate (0.0008)
4-φ10
(0.75)
MTG
Holes
−0.035
(5.71)
0
φ110
−0.013
0
φ19
Absolute Encoder
1024 P/R (φ0.0016) Unit: mm (in)

SGMP- Dimensions W (HP) Mass kg Radial Load Thrust Load
6 15AW12 No key No screw 1500 7.1 (15.653) 490 147

(2 01)
(2.01)
15AW14 22 3.5 6 6
(0 87)
(0.87) (0 14)
(0.14) (0 24)
(0.24) (0 24)
(0.24)
15AW16 M6
Depth: 10 (0.39)

2. Model “A” indicated 200V specification.
is supplied.
6 -122

Motor Plug

Pin: 350218-6 or 350547-6
1 Phase U Red
Connected to
2 Phase V White
Cap: 350780-1
3 Phase W Blue
Socket: 350536-6 or 350550-6
4 FG (Frame Ground) Green/Black
Encoder Plug
Plug: 172171-1 (Made by AMP) D Absolute Encoder Wiring Specifications
Pin: 170359-1 or 170363-1
Cap: 172163-1
Socket: 170361-1 or 170365-1 4 B channel output White/Yellow
13 Reset White/Gray
* Terminal to discharge capacitor for product

dispatch. Do not use. 6
6 -123

D 400 W
Encoder Lead
UL20276 U
300¦30 (11.80±1.18)
(35) (1.38)
W
Encoder Plug
Motor Lead UL2464 T Screw
Motor Plug Cross-section Y-Y
(35) (1.38)
Sealant
300¦30 (11.80±1.18)
Hex.nut 14 (0.55)
L (0.0016)
j80 (3.15)
LL 21
18(0.71)
0.04 A
38.4 31.5 (1.24) LM 30 (1.18)
12 0.02
4-R8.2 (0.83)
MAX.
(1.51) 8.25 8 (0.31) 3 (0.12)
(0.47) Sealant A (0.0008)
(0.32)
−0.011
14 (0.55) 4-φ7
QK
0
MTG Holes
φ14
Y
−0.030
0
φ70
Y
φ90
φ0.04 A (3.54)
(φ0.0016)
Absolute Holding Brake (deenergized operation)
Encoder Voltage: 90 VDC Unit: mm (in)

SGMP- Dimens W (HP) Mass Radial Load Thrust Load
6 ions kg (lb) N (lb) N (lb)
04AW12 168 138 68.1 No key − 400 3.0 (6.614) 245 68

B (6.61) (5.43) (2.68) (0.54)
04AW14 16 3 5 5
B (0.63) (0.12) (0.20) (0.20)
04AW16 M5
B Depth: 8
(0.31)

key is supplied.
6 -124
D 750 W
Encoder Lead
UL20276
300¦30 (11.80±1.18)
U
(35) (1.38)
Encoder Plug
W
Motor Lead UL2464
Motor Plug Screw

(35) (1.38)
T
300¦30 (11.80±1.18) Cross-section Y-Y
180 (7.09) Hex.nut 17 (0.67)

j120 (4.72)
140 (5.51) 40 (1.57)
(0.0016)
12 (0.47) 66.7 (2.63) 38
0.04 A
Sealant 10.5 10 (0.39) 3.5 (1.50)
0.02
(1.10)
MAX.
(0.41) (0.14) A (0.0008) 4-R6
28
4-φ10
19 MTG Holes
(0.75
−0.011
0
) QK
φ16
Y
−0.035
0
φ110
Y
φ145
(5.71)
φ0.04 A
Absolute (φ0.0016)
Encoder
Holding Brake (deenergized operation)
1024 P/R
Voltage: 90 VDC
Unit: mm (in)
Brake holding torque=motor rated torque
6
Model QK U W T Output W Approx. Allowable Allowable
SGMP- (HP) Mass Radial Load Thrust Load
08AW12B No key 750 (1.01) 6.2 (13.669) 392 147
08AW14B 22 (0.87) 3 (0.12) 5 (0.20) 5 (0.20)

2. Model 08AW14B is fitted with a key. The keyway conforms to JIS B 1301-1976 (precision). A parallel key is supplied.
6 -125

Motor Plug
Pin: 170360-1 or 170364-1 (pins 1 to 4) 1 Phase U Red
170359-1 or 170363-1 (pins 5 and 6))
(170360-1 or 170363-1: 750 W only) 2 Phase V White
Connected to 3 Phase W Blue
Cap: 172160-1 4 FG (Frame Ground) Green/Yellow
Socket: 170362-1 or 170366-1 5 Brake terminal Black
Encoder Plug
D Absolute Encoder Wiring Specifications
Plug: 172171-1 (Made by AMP) 1 A channel output Blue

Pin: 170359-1 or 170363-1 2 A channel output White/Blue
Connected to 3 B channel output Yellow
Cap: 172163-1 4 B channel output White/Yellow
Socket: 170361-1 or 170365-1 5 Z channel output Green
13 Reset White/Gray
6 * Terminal to discharge capacitor for product dis-

patch. Do not use.
6 -126
D 1.5kW
Encoder Lead
UL20276, φ8(φ0.31)
Screw
Motor Lead
UL2464, φ9.5(0.37)
Cross-section Y-Y
Hex.nut
17(0.67)
Sealant
28 (1.10) MAX.
Nameplate
4-φ10
MTG
Holes
Absolute Holding Brake (deenergized operation)

encoder Voltage:Tail code B:90 VDC C:24 VDC Unit: mm (in)

SGMP- Dimensions W (HP) Mass kg Radial Thrust
(lb) Load Load
N (lb) N (lb) 6
15AW12B No key No Screw 1500 8.6 490 147
(2 02)
(2.02) (18 960)
(18.960)
15AW12C
15AW14B 22 3.5 6 6 No Screw

(0 87)
(0.87) (0 14)
(0.14) (0 24)
(0.24) (0 24)
(0.24)
15AW14C
15AW16B M6
Depth: 10 (0
(0.39)
39)
15AW16C

2. Model “A” indicates 200 V specification.
3. “15AW14B(C)” and “15AW16B(C)” are fitted with a key. The keyway conforms to JIS B 1301-1976 (precision). A paral-
lel key is supplied.
6 -127
Plug : 350715-1 (Made by AMP) D Motor Wiring Specifications

Motor Plug
Pin: 350218-6 or 350547-6 (pins 1 to 4)
350561-1 or 350690-1 (pins 5 and 6) 1 Phase U Red
Encoder Plug
D Absolute Encoder Wiring Specifications
Cap :172163-1 3 B channel output Yellow
Socket: 170361-1 or 170365-1
13 Reset White/Gray
* Terminal to discharge capacitor for product dispatch. Do not
6 use.
6 -128
J Connectors on Detector and Motor Ends

The connectors on the detector and motor ends are divided into two types: standard connector
and IP67-based connector. The standard connector is not drip-proof.
Standard Connector
The standard connectors for Servomotors with and without holding brake are different.
Table 6.12 Standard Connectors for SGMj Servomotors without Holding Brake
Motor Model Connectors on Motor End
Receptacle L-shaped Plug Straight Plug Cable Clamp
SGMS- 10AjA MS3102A18-10P MS3108B18-10S MS3106B18-10S MS3057-10A
15AjA
20AjA
30AjA MS3102A22-22P MS3108B22-22S MS3106B22-22S MS3057-12A
40AjA
50AjA
SGMG- 05AjA MS3102A18-10P MS3108B18-10S MS3106B18-10S MS3057-10A
09AjA
13AjA
6
30AjA
44AjA
75AjA
1AAjA
1EAjA
Connector on motor To be prepared by customer (cable)

side already provided
6 -129
SGMG- 03AjB MS3102A18-10P MS3108B18-10S MS3106B18-10S MS3057-10A
06AjB
09AjB
12AjB MS3102A22-22P MS3108B22-22S MS3106B22-22S MS3057-12A
20AjB
30AjB
60AjB
SGMD- 22AjA MS3102A24-10P MS3108B24-10S MS3106B24-10S MS3057-16A
32AjA
40AjA

Motor Model Connectors on Detector End
6 Receptacle L-shaped Plug Straight Plug Cable Clamp
15AjA
20AjA
30AjA
40AjA
50AjA
6 -130
09AjA
13AjA
20AjA
30AjA
44AjA
55AjA
75AjA
1AAjA
1EAjA
06AjB
09AjB
12AjB
20AjB
6
30AjB
44AjB
60AjB
32AjA
40AjA
Connector on motor
To be prepared by customer (cable)
6 -131
Table 6.13 Connectors for SGMj Servomotors with Holding Brake
15AjA
20AjA
40AjA
50AjA
09AjA
13AjA
30AjA
44AjA
75AjA MS3102A10SL-3P MS3108B10SL-3S MS3106A10SL-3S MS3057-4A

6 1AAjA
06AjB
09AjB
20AjB
30AjB
60AjB MS3102A10SL-3P MS3108B10SL-3S MS3106A10SL-3S MS3057-4A
Note: In cells containing two rows, the upper row connector model is for the motor circuit and the connector model lower row is
for the brake power supply.
6 -132
32AjA
40AjA

15AjA
20AjA
30AjA
40AjA
50AjA
09AjA 6
13AjA
20AjA
30AjA
44AjA
55AjA
75AjA
1AAjA
1EAjA
6 -133
06AjB
09AjB
12AjB
20AjB
30AjB
44AjB
60AjB
32AjA
40AjA
Connector on detector To be prepared by customer (cable)

6 -134
IP67-based Connectors
IP67-base connectors for servomotors without a holding brake differ from those for servomo-
tors with a holding brake.
Table 6.14 Connectors for SGMj Servomotors without Holding Brake
Motor Model Receptacle Plug End Bell: Cable Clamp Manufacturer

Manufactured by Japan
Aviation Electronics
Industry, Ltd.
Back Shell:
Manufactured by Daiichi
Denshi Kogyo K.K.
Angle Straight
(L-Shaped)
M SGMS- 10AjA CE05-2A18- MS3106A18- CE-18BA-S CE02-18BS-S CE3057-10A-* Daiichi Denshi

o 10PD 10S(D190) Kogyo K.K.
KK
t 15AjA (MS3102A18-
o
10P)
r 20AjA
30AjA JL04HV-2E22 JL04V-6A22- JL04-22EBL JL04-22EB JL04-2022CK Japan Aviation

-22PE-B
22PE B 22SE (14) Electronics In-
In
40AjA (MS3102A22- dustry, Ltd.
22P)
50AjA
SGMG- 05AjA CE05-2A18- MS3106A18- CE-18BA-S CE02-18BS-S CE3057-10A-* Daiichi Denshi

10PD
(MS3102A18-
10S(D190) Kogyo K.K. 6
09AjA
10P)
13AjA
20AjA JL04HV-2E22 JL04V-6A22- JL04-22EBL JL04-22EB JL04-2022CK Japan Aviation

-22PE-B 22SE (14) Electronics In-
22P)
44AjA
55AjA JL04HV-2E32 JL04V-6A32- *1 *1 *1 Japan Aviation

-17PE-B
17PE B 17SE Electronics In-
In
17P)
1AAjA
1EAjA
Connector on To be selected Not required if flexible conduit is used

motor side al- if flexible con-
ready provided duit is used
6 -135

Industry, Ltd.
Back Shell:
Denshi Kogyo K.K.
Angle Straight
(L-Shaped)
M SGMG- 03AjB CE05-2A18- MS3106A18- CE-18BA-S CE02-18BS-S CE3057-10A-* Daiichi Denshi

o 10PD 10S(D190) Kogyo K.K.
t (MS3102A18-
06AjB
o
10P)
r
09AjB
12AjB JL04HV-2E22 JL04V-6A22- JL04-22EBL JL04-22EB JL04-2022CK Japan Aviation

-22PE-B 22SE (14) Electronics In-
20AjB (MS3102A22- dustry, Ltd.
22P)
30AjB
44AjB JL04V-2E32- JL04V-6A32- *1 *1 *1 Japan Aviation

17PE-B 17SE Electronics In-
60AjB (MS3102A24- dustry, Ltd.
10P)
SGMD- 22AjA JL04V-2E24- JL04-6A24- JL04-24EBL JL04-24EB JL04-2428CK Japan Aviation
6 32AjA
10PE-B
10PE B
(MS3102A32-
10SE (17) Electronics In-
dustry, Ltd.
In
17P)
40AjA
Detector 97F3102E20- MS3106A20- CE-20BA-S CE02-20BS-S CE3057-12A-* Daiichi Denshi

29P 29S(D190) Kogyo K.K.
(MS3102A20-
29P)
Connector on To be selected Not required if flexible conduit is used

motor side al- if flexible con-
ready provided duit is used
* 1. The SGMG-55AjA, -75AjA, -1AAjA, -1EAjA, -44AjB, and -60AjB motors do

not contain an End Bell. For these motors, use the following flexible conduit instead.
Connector Conduit Model Manufacturer
Angle (L-Shaped) Straight
RCC-3**RL-MS32F RCC-1**RL-MS32F VF-** (SR-**) NIPPON FLEX CO.,

LTD.
6 -136
Select an appropriate connector and conduit model (mark **) according to the lead wire diame-
ter. For details, refer to page 6 - 177.
Note: 1. The connectors for a detector are the same regardless of the motor model being used.
2. To ensure compliance with IP67, always use the plug, End Bell, Back Shell and cable
clamp specified above.
3. Select an appropriate cable clamp model (mark**) according to the lead wire diameter.
For details, refer to page 6 - 177.
4. ( ) in the receptacle column shows the standard (non-dripproof) model. However, both
are actually the same receptacles.
Table 6.15 IP67-based Connectors for SGMj Servomotors with Holding Brake
Motor Model Receptacle Plug End Bell: Cable Manufacturer

Manufactured by Japan Clamp
Industry, Ltd.
Back Shell:
Denshi Kogyo K.K.
Angle Straight
(L-Shaped)
M SGMS- 10AjA JL04V-2E20- JL04V-6A20- JL04-20EBL JL04-20EB JL04-2022C Japan Aviation

o 15PE-B
15PE B 15SE K (14) Electronics In-
In
t 15AjA (MS3102A20-15P) dustry, Ltd.
o
r 20AjA
30AjA JL04-2E24- JL04V-6A24- JL04-24EBL JL04-24EB JL04-2428C Japan Aviation

10PE B
10PE-B 10SE K (17) Electronics In-
In 6
40AjA (MS3102A24-10P) dustry, Ltd.
50AjA
Connector on motor To be selected Not required if flexible conduit is used

side already provided if flexible con-
duit is used
6 -137
Motor Model Receptacle Plug End Bell: Cable Manufacturer

Manufactured by Japan Clamp
Industry, Ltd.
Back Shell:
Denshi Kogyo K.K.
Angle Straight
(L-Shaped)
SGMG- 05AjA JL04V-2E20- JL04V-6A20- JL04-20EBL JL04-20EB JL04-2022C Japan Aviation

15PE-B
In
13AjA
20AjA JL04-2E24- JL04V-6A24- JL04-24EBL JL04-24EB JL04-2428C Japan Aviation

10PE-B
In
44AjA
55AjA JL04V-2E32- JL04V-6A32- *1 *1 *1 Japan Aviation

17PE-B
17PE B 17SE Electronics In-
In
75AjA CE-10SLBA CE05-10SL CE3057-4A-
(MS3102A32-17P) dustry, Ltd.
MS3106A10 -S BS-S 1
D ii hi Denshi
Daiichi D hi
1AAjA CE05-2A10SL-3PC SL-3S
M Kogyo
gy K.K.
(MS3102A10SL-3P) (D190)
o
1EAjA
t
6 o
r SGMG- 03AjB JL04V-2E20- JL04V-6A20- JL04-20EBL JL04-20EB JL04-2022C Japan Aviation
15PE B
15PE-B 15SE K (14) Electronics In-
In
06AjB (MS3102A20-15P) dustry, Ltd.
09AjB
12AjB JL04-2E24- JL04V-6A24- JL04-24EBL JL04-24EB JL04-2428C Japan Aviation

10PE-B
In
20AjB (MS3102A24-10P) dustry, Ltd.
30AjB
44AjB JL04V-2E32- JL04V-6A32- *1 *1 *1 Japan Aviation

CE-10SLBA CE05-10SL CE3057-4A-
(MS3102A32-17P) dustry, Ltd.
MS3106A10 -S S BS S
BS-S 1
60AjB Daiichi Denshi
CE05-2A10SL-3PC SL-3S(D190)
Kogyo K.K.
(MS3102A10SL-3P)

duit is used
6 -138

Industry, Ltd.
Back Shell:
Manufactured by
Daiichi
Denshi Kogyo K.K.
Angle Straight
(L-Shaped)
M SGMD- 22AjA JL04-2E24- JL04V-6A24- JL04-24EBL JL04-24EB JL04-2428CK Japan Aviation

o 10PE-B 10SE (17) Electronics In-
t (MS3102A20-15P) dustry, Ltd.
o
r
SGMD- 32AjA JL04-2E24- JL04V-6A24- JL04-24EBL JL04-24EB JL04-2428CK Japan Aviation

10PE-B 10SE (17) Electronics In-
(MS3102A20-15P)
(MS3102A20 15P) d t Ltd
dustry, Ltd.
40AjA
Detector 97F3102E20- MS3106A20- CE-20BA-S CE02-20BS- CE3057-12A-* Daiichi Denshi

29P 29S(D190) S Kogyo K.K.
(MS3102A20-29P)

duit is used
6
* 1. The SGMG-55AjA, -75AjA, -1AAjA, 1EAjA, -44AjB, and -60AjB motors do not
contain an End Bell. For these motors, use the following flexible conduit instead.
Both L-shaped and straight type connectors are applicable to motors with a holding brake.
(manufactured by Daiichi Denshi Kogyo K.K.).
Connector Conduit Model Manufacturer
Angle (L-Shaped) Straight
RCC-3**RL-MS32F RCC-1**RL-MS32F VF-** (SR-**) NIPPON FLEX CO.,

LTD.
Select an appropriate connector and conduit model (mark **) according to the lead wire diame-
ter. For details, refer to page 6 - 177.
Note: 1. The connectors for a detector are the same regardless of the motor model being used.
2. To ensure compliance with IP67, always use the plug, End Bell, Back Shell and cable
clamp specified above.
3. Select an appropriate cable clamp model (mark **) according to the lead wire diameter.
For details, refer to page 6 - 177.
4. ( ) in the receptacle column shows the standard (non-dripproof) model. However, both
are actually the same receptacles.
6 -139
6.4.2 SERVOPACK Dimensional Drawings
The dimension drawings of the SERVOPACK can be grouped according to the heat sink attach-
ment method and capacity.
Heat Sink Mounted Inside the Control Panel (cf. pp. 6 -141 to
6 -145)
D 0.5 to 1.5 kW Model: SGDB-05AM to -15AM
D 11 to 15 kW Model: SGDB-1AAM to -1EAM
Heat Sink Mounted Outside the Control Panel (cf. pp. 6 -146 to
6 -150)
D 0.5 to 1.5 kW Model: SGDB-05AM-P to -15AM-P
D 11 to 15 kW Model: SGDB-1AAM-P to -1EAM-P
6 -140
J Heat Sink Mounted Inside Control Panel
SGDB-05AM to -15AM (0.5 to 1.5 kW)

2-φ5.5 MTG Holes
Regenerative
110 (4.33) Resistor
92 (3.02) (15) (0.59) (Digital Operator) Heat Sink
6CN
3CN
189.5 (7.46)
250 (9.84)
235 (9.25)
2SW
STATUS
! WARNING Nameplate
POWER
ALARM 5CN
1SW
1CN 7CN 2CN

60.5 (2.38)
L1C
CHARGE
Fan
L1
External Terminal
5.5 (0.22) Direction
Cover
(20) (0.79)
(M4 Screw)
of Air Flow
Ground Terminal (M4 Screw) 35 125 (4.92) 65
Inside of Cover (1.38) (2.56)
Battery
6
216 (8.50)
225 (8.86)
156 (6.14)
173 (6.81)
153 (6.02)
Units: mm (in)
Approx. Mass: 4 kg (8.82 lb)
6 -141
The same connectors on the SERVOPACK end are used for models SGDB-05AM (0.5 kW)
to SGDB-1EAM (15 kW).
Symbols Connector on SERVOPACK Note

End
1CN 10236-52A2JL Manufactured by 3M
2CN 10220-52A2JL
3CN 17JE-13090-37 (D2B) Manufactured by Daiichi Denshi Kogyo K.K.
5CN DF11-4DP-2DSA Manufactured by Hirose Denki
6CN 10250-6202JL Manufactured by 3M
6 -142

2-φ5.5 MTG Holes
Regenerative
135 (5.31) Resistor
(15) (0.59) (Digital Operator) Heat Sink
117 ((4.61)
6CN
3CN
189.5 (7.46)
2SW ALARM
235 (9.25)
250 (9.84)
STATUS
WARNING
Nameplate
POWER
ALARM 5CN
1SW 60.5 (2.38)
1CN 7CN 2CN

L1C
CHARGE
Fan
L1 SGDB-20 × 1
External Terminal Direction SGDB-30 × 2
(M4 Screw) 5.5 (0.22) Cover of Air Flow
Ground Terminal (M4 Screw) 125 (4.92) 65
35
(20) (0.79)
Inside of Cover (1.38) (2.56)
Battery
6
216 (8.50)
224.5 (8.84)
156 (6.14)
153 (6.02)
173 (6.81)
Units: mm (in)
6 -143
Option (Operator Module) Direction

of Air Flow
(42) Cooling Fan
(0.30)
(7.5)
110 (4.33) (79) (3.11) (1.65)
(15) (0.59)
(74) (2.91)
(77.5) (3.05)
1CN
1CN
138.8 (5.46)
STATUS 2SW Control Circuit
Terminal
350 (13.78) MAX.

(42)
335 (13.19)
Control Circuit (188) (7.40) (1.65)
Terminal M4
POWER 5CN WARNING
ALARM
CHARGE 1SW
276 (10.87)
L1C L3C
1CM 2CW
120.5 (4.74)
133.7 (5.26)
12.5
(0.49)
62 (2.44) (50.7) Main Circuit
50.8 54 (2.13) Terminal
(2.00) (2.00)
25 (0.98)
L1 L2 L3 + − +1 B U V W
7.5 (0.30)
(0.35)
123.4 (4.86) 41 (65.6) 15.2

6
9
(1.61) (2.58) (0.60)

19
(0.75) 9 × 19 = 171 (6.73) 25.3 (1.00) 87.7 (3.45) 106.8 (4.20)
30.7
(1.21) (28.3) (20) (0.79) (225.3) (8.87)
25 180 (7.09) (25)
(0.98) 230 (9.06) MAX. (0.98) (1.11) 9.7 (0.38) Grounding Terminal
Main Circuit Terminal M6 Grounding Terminal M8
Battery
145 (5.71)
240 (9.45) MAX.
90 (3.54)
Units: mm (in)
Approx. Mass: 15 kg
6 -144
SGDB-1AAM to -1EAM (11 to 15 kW)

MTG Holes
260 (10.24)
200 (7.87) Cooling Fan
(0.30)
Direction of
(7.5)
(Digital Operator) Air Flow
7 (0.28) 1.6
(0.06)
17
269 (10.59)
6CN
3CN
435 (17.13)
450 (17.72)
STATUS 2SW
(15)
Control Circuit AM (0.59)
Terminal M4 Nameplate
SERVOPACK
POWER 5CN
WARNING
ALARM 1SW
1CN 7CN 2CN
Regenerative
144 (5.67)
+1
Resistor B L1C L3C
Terminal M6
26.5 (1.04)
7.5 (0.30)
L1 L2 L3 + − U V W
(0.79)
9 (0.35)
20
34 27 33
78 (3.07)
(0.30)
(1.34) (1.06) (66.4) (1.30) 146 (5.75)

(2.61)
7.5
152.6 (6.01) 41 28 (1.10)

Main Circuit Terminal M8 (1.61) Ground Terminal M8 (20) 276.8 (10.90)
6
(0.79)
8.2 (0.32)
Battery
160 (6.30)
Units: mm (in)
290 (11.42) MAX.
125 (4.92)
6 -145
J Heat Sink Mounted Outside Control Panel

A duct ventilation model is available for SERVOPACKs that have a heat sink mounted outside
the control panel.
This installation method has the following advantages.
D Heat generated inside the SERVOPACK control panel is discharged outside, reducing the
buildup of heat inside the panel.
D The control panel in which the SERVOPACK is installed can remain compact.
D Connectors 1CN to 6CN:
When the heat sink is mounted outside the control panel, the same connectors on the SER-
VOPACK end are used for models SGDB-05AM-P to SGDB-1EAM-P.
Symbols Connector on SERVOPACK Note

End
1CN 10236-52A2JL Manufactured by 3M
2CN 10220-52A2JL
3CN 17JE-13090-37 (D2B) Manufactured by Daiichi Denshi Kogyo K.K.
5CN DF11-4DP-2DSA Manufactured by Hirose Denki
6CN 10250-6202JL Manufactured by 3M
6 -146
SGDB-05AM-P to -15AM-P
2-φ5.5 MTG Holes Regenerative

(15) (Digital Resistor
7 (0.28)
110 (4.33)
92 (3.62) (0.59) Operator) Heat Sink
6CN
3CN
265 (10.43)
279 (10.98)
189.5 (7.46)
2SW
STATUS
Name
! WARNING
POWER
ALARM
5CN
1SW
plate
1CN 7CN 2CN
60.5 (2.38)
L1C
CHARGE
Fan
L1
(0.28)
Cover Direction of
7
External Terminal (M4 Screw)

35 125 65 Air Flow
(1.38) (4.92) (2.56)
Ground Terminal (M4 Screw)
(20) (0.79)
Inside of Cover
Battery
225 (8.86)
216 (8.50)
173 (6.81)
156 (6.14)
153 (6.02)
Units: mm (in)
6
(10)(0.39)MIN.
(7) (0.28)
6 (10.24)
(note)
(4.61) (0.39) Mounting Surface

(0.59)
(0.39)
4-M5 MTG Holes

(10.43)
(10.98)
(9.37)
(10.43)
Hollow
(0.26)
(0.83)
(10)(0.39)MIN.
(7) (0.28)
(0.47)
(note)
12 (0.47)
57 (2.24)
(0.14)
(0.14) (4.13±0.02)
(4.41)
Mounting Surface Diagram
Note: When mounting, the SERVOPACK must be inclined as shown in the above figure. Provide at least 10 mm (0.39 in.) clearance
above and below the SERVOPACK.
6 -147
4-φ6 MTG Holes Regenerative
(Digital
7 (0.28)
135 (5.31) (15) Resistor
Operator)
117 (4.61) (0.59) Heat Sink
6CN
3CN
O
P
E
189.5 (7.46)
R
A
T
265 (10.43)
279 (10.98)
O
R
2SW
STATUS
WARNING
POWER
ALARM 5CN
Nameplate
1SW
1CN 7CN 2CN

L1C
(2.38)
CHARGE
Fan
60.5 SGDB-20 × 1
L1 (0.28)
Direction
Cover of Air Flow SGDB-30 × 2
7
35 125 65
External Terminal (M4 Screw) (1.38) (4.92) (2.56)
Ground Terminal (M4 Screw)
Inside of Cover
(0.79)
(20)
Battery
225 (8.86)
216 (8.50)
173 (6.81)
156 (6.14)
153 (6.02)
6
Units: mm (in)
(10)(0.39)MIN.
(7) (0.28)
(note)
Mounting Surface
6 (0.24)
(0.39) (4.61) (0.39)

(0.59)
0.02)
4-M5 MTG Holes

(9.37
(10.43)
(10.98)
Hollow
(10.43)
(0.26)
(0.83)
(10)(0.3) MIN.
(7) (0.28)
12
(0.47)
(12)
(0.47)
(note)
(3.23)
(4.61)
(0.14) (5.12±0.02) (0.14)

Mounting Surface Diagram
Note: When mounting, the SERVOPACK must be inclined as shown in the above figure. Provide at least 10 mm (0.39 in.) clearance
above and below the SERVOPACK.
6 -148
(7.5) (23.5) (0.93)

MTG Holes Option (Operator Module) Direction of
(79) Air Flow
Cooling Fan
(0.30)
110 (4.33) (3.11) (42) (1.65)
(7.5)
(15) (0.59)
(0.30)
(74) (2.91)
138.8 (5.40) (77.5) (3.05)
350 MAX. (13.78 MAX.)

6CN
3CN
Control
Circuit Terminal
335 (13.19)
STATUS 2SW
Control Circuit (188) (42)

(1.65)
Terminal M4 (7.40)
(12.17)
5CN
POWER WARNING
(309)
ALARM
CHARGE 1SW
276 (10.87)
MADE IN JAPAN
L1C L3C
7CN
1CN
120.5 (4.74)
2CN
133.7 (52.6)
12.5 (0.49)
50.8 62 (2.44) 54 (2.13) 50.7 Main
Circuit Terminal
(2.00) (2.00)
25 (0.98)
L1 L2 L3 + − +1 B U V W
9 (0.35)
(0.30)
7 (0.28) 19 (0.75) 41 (65.6) 7.5 15.2 (0.60)
(0.69)
(17.5)
123.4 (4.86) (1.61) (2.58) 25.3 (1.00) 87.7 (3.45) 103.8 (4.09)
30.7 (1.21) 9 × 19 = 171 (6.73) (28.3) (1.11) (20) (0.79) (222.3) (8.75)
12.5 (0.49) 205 (8.07) 12.5 (0.49) 9.7 (0.38) Ground
230 (9.06) MAX. Terminal
(11.5) (0.45)
Ground Terminal M8
Main Circuit Terminal M6
Battery 4-M6 Tap
2.5 (0.10)
34 (1.34) 82 (3.23)
6
145 (5.71)
2-6φ
316 (12.44)
335 (13.19)
237 (9.33) MAX.
Hollow
87 (3.43)
7.5 (0.30)
7.5 (0.30)
(9.5) (0.37) (211) (8.28) (9.5) (0.37) 7 (0.28) 205 (8.07) 7 (0.28)
(5.5) (0.22) 219 (8.62) (5.5)
(0.22)
Detailed View of Installation
Units: mm (in)
Approx. Mass: 15.5 kg (34.16 lb)
6 -149
SGDB-1AAM-P and -1EAM-P

MTG Holes
(7.5) (0.30)
260 (10.24)
Cooling Fan
235 (9.25)
(0.71)
7 (0.28) (Digital Operator) Direction of
(18)
Air Flow
17 (0.67)
269 (10.59)
6CN
3CN
(15)
450 (17.72)
435 (17.13)
413.3 (16.27)
STATUS 2SW (0.59)
Control Circuit
Name
Terminal M4 plate
POWER SERVOPACK
ALARM WARNING
5CN
1SW
1CN 7CN 2CN
Regenerative +1 B L1C L3C

144 (5.67)
Resistor Terminal
M6
26.5 (1.04)
7.5 (0.30)
L1 L2 L3 + − U V W
20 (0.79)
27
(0.30)
34 33
9
(18.7) (0.74)
(66.4) 142.5 (5.61)
7.5
(1.34) (1.06) (1.30)

78 (3.07)
152.6 (6.01) 41 (2.61) 28 (1.10)
Main Circuit Terminal M8 (1.61) Ground Terminal M8 (20) (0.79) 273.3 (10.76)
6 8.2 (0.32)
Battery 9 (0.35)
4-M6 Tap
160 (6.30)
435 (17.13)
11 (0.43)
Hollow
287 (11.30) MAX.
4.5 235 (9.25) 4.5

(0.18) 244 (9.61) (0.18)
121.5 (4.78)
Detailed View of Installation
(9.5) Units: mm (in)

(221.5) (29) Approx. Mass: 22 kg (48.49 lb)
(0.37) (8.72) (1.14)
6 -150
6.4.3 Digital Operator Dimensional Drawings
The following two models of Digital Operator are available.
JUSP-OP02A-1 (Hand-held)
(2.48)
(0.73)
(1.97)
(2-Φ0.18)
MTG HOLES (0.28)
(5.31)
(4.92)
6
(0.31)
(39.37)
Model:17JE-23090-02
Made by DAIICHI DENSHI
KOGYO K.K.
Unit: mm Approx. Mass: 0.18 kg (0.40 lb)
JUSP-OP03A (Mounted)
(2.13)
(0.59)
(2.26)
Unit: mm
Approx. Mass: 0.02 kg (0.041lb)
6 -151
6.5.1 Selecting Peripheral Devices
6.5 Selecting Peripheral Devices
This section shows how to select peripheral devices using flowcharts. Order lists for Servomotors,
SERVOPACKs, Digital Operators, and peripheral devices are also included.
Select the peripheral devices using the flowcharts on the subsequent pages.
The items below are not included in the flowcharts. Refer to 6.6 Specifications and Dimension-
al Drawings of Peripheral Devices.
D Encoder signal converter units

D Cables for connecting PC and SERVOPACK
6 -152
J Flowchart for Peripheral Device Selection
Start peripheral device selection.
SGM and
SGMP model Motor capacity is No
What is motor model? less than 1.5 kW? P
(page 6 -156)
SGMG, Yes
SGMS, and
SGMD model
M (page 6 -159)
Enclosure IP67
What is motor
operation A
environment?
(page 6 -166)
Enclosure IP65 or lower
With or without With brake

brake?
Without brake
Brake specification is 24 VDC
90 VDC or 24 VDC?
6
90 VDC Brake power supply
must be prepared by
customer.
1) Select brake power supply.

(for 90 VDC brake)
100 VAC input /

200 VAC input
100 VAC input 200 VAC input
LPDE-1H01 LPSE-2H01
to (a) (page 6 -154)
6 -153
(a)
2) Select encoder cable.
Incremental encoder Absolute encoder

or absolute encoder?
B
(page 6 -155)
Incremental encoder
Connector only Connector only or

connector with cable?
Select connector. Connector with cable
Loose wire, straight

plug, or L-shaped plug
on the encoder end?
DE9411290
Loose wire Straight plug L-shaped plug
Select one of the following Select one of the following Select one of the following
according to cable length. according to cable length. according to cable length.
3m DE9411276-01 3m JZSP-CBP0S-01 3m JZSP-CBP0L-01

(9.8ft) (9.8ft) (9.8ft)
(16.4ft) (16.4ft) (16.4ft)
10m 10m 10m
6
DE9411276-03 JZSP-CBP0S-03 JZSP-CBP0L-03
(32.8ft) (32.8ft) (32.8ft)
(49.2ft) (49.2ft) (49.2ft)
(65.6ft) (65.6ft) (65.6ft)
to (b) (page 6 -162)
6 -154
B
Absolute encoder
Connector only Connector only or

connector with cable?
Select connector. Connector with cable
Loose wire, straight plug, or

L-shaped plug on the
encoder end?
DE9411290
Loose wire Straight plug L-shaped plug

(9.8ft) (9.8ft) (9.8ft)
(16.4ft) (16.4ft) (16.4ft)
(32.8ft) (32.8ft) (32.8ft)
(49.2ft) (49.2ft) (49.2ft)
(65.6ft) (65.6ft) (65.6ft)
to (b) (page 6 -162) 6
6 -155
1) Select motor cables.
No brake/With
brake?
No brake With brake
With connector and With connector and

AMP terminal/Cable AMP terminal/Cable
only? only?
With connector and Cable only With connector and

amplifier terminal
Cable only
amplifier terminal
Select one of the following Select one of the following Select one of the following Select one of the following
according to cable length. according to cable length. according to cable length. according to cable length.
3m DP9320827-1 3m DP9402221-1 3m DP9320828-1 3m DP9402222-1

(9.8ft) (9.8ft) (9.8ft) (9.8ft)
5m DP9320827-2 5m DP9402221-2 5m DP9320828-2 5m DP9402222-2
(16.4ft) (16.4ft) (16.4ft) (16.4ft)
10m DP9320827-3 10m DP9402221-3 10m DP9320828-3 10m DP9402222-3
(32.8ft) (32.8ft) (32.8ft) (32.8ft)
15m DP9320827-4 15m DP9402221-4 15m DP9320828-4 15m DP9402222-4
(49.2ft) (49.2ft) (49.2ft) (49.2ft)
20m DP9320827-5 20m DP9402221-5 20m DP9320828-5 20m DP9402222-5
(65.6ft) (65.6ft) (65.6ft) (65.6ft)
Incremental Incremental
encoder/Absolute encoder/Absolute
encoder encoder
6 Incremental Absolute Incremental Absolute
Select connector kit. Select connector kit. Select connector kit. Select connector kit.
DP9420016-1 DP9420016-3 DP9420016-2 DP9420016-4
1)’ Select brake power supply.
100 VAC input /

200 VAC input
100 V input 200 V input

LPDE-1H01 LPSE-2H01
to (a)’ (page 6 -157)
6 -156
(a)’
Incremental Absolute encoder

encoder or A’
absolute encoder?
(page 6 -158)
Incremental
encoder
SERVOPACK
Connector end without Cable
/ /
both ends connector only
Connector both SERVOPACK end Cable only

ends without connector
3m JZSP-CAP00-01 3m DP9320086-1 3m DP9400064-1

(9.8ft) (9.8ft) (9.8ft)
5m JZSP-CAP00-02 5m DP9320086-2 5m DP9400064-2
(16.4ft) (16.4ft) (16.4ft)
10m JZSP-CAP00-03 10m DP9320086-3 10m DP9400064-3
(32.8ft) (32.8ft) (32.8ft)
15m JZSP-CAP00-04 15m DP9320086-4 15m DP9400064-4
(49.2ft) (49.2ft) (49.2ft)
20m JZSP-CAP00-05 20m DP9320086-5 20m DP9400064-5
(65.6ft) (65.6ft) (65.6ft)
Did you select

6
connector in 1) ?
Yes No
Select connector kit.
DP9420006-1
DP9420006-2
to (b) (page 6 -162)
6 -157
A’
Absolute encoder
SERVOPACK
/ /

3m JZSP-CAP10-01 3m DP9320085-1 3m DP8409123-1

(9.8ft) (9.8ft) (9.8ft)
5m JZSP-CAP10-02 5m DP9320085-2 5m DP8409123-2
(16.4ft) (16.4ft) (16.4ft)
10m JZSP-CAP10-03 10m DP9320085-3 10m DP8409123-3
(32.8ft) (32.8ft) (32.8ft)
15m JZSP-CAP10-04 15m DP9320085-4 15m DP8409123-4
(49.2ft) (49.2ft) (49.2ft)
20m JZSP-CAP10-05 20m DP9320085-5 20m DP8409123-5
(65.6ft) (65.6ft) (65.6ft)
Did you select

connector in 1) ?
Yes No
6
DP9420006-3
DP9420006-4
to (b) (page 6 -162)
6 -158
1) Select motor cables.
No brake/With
brake?
No brake With brake
With connector and With connector and

AMP terminal/Cable AMP terminal/Cable
only? only?
With connector and Cable only With connector and Cable only
amplifier terminal amplifier terminal
Select one of the following Select one of the following Select one of the following Select one of the following
according to cable length. according to cable length. according to cable length. according to cable length.
3m DP9320081-1 3m DP8409359-1 3m DP9320083-1 3m DP8409360-1

(9.8ft) (9.8ft) (9.8ft) (9.8ft)
5m DP9320081-2 5m DP8409359-2 5m DP9320083-2 5m DP8409360-2
(16.4ft) (16.4ft) (16.4ft) (16.4ft)
10m DP9320081-3 10m DP8409359-3 10m DP9320083-3 10m DP8409360-3
(32.8ft) (32.8ft) (32.8ft) (32.8ft)
15m DP9320081-4 15m DP8409359-4 15m DP9320083-4 15m DP8409360-4
(49.2ft) (49.2ft) (49.2ft) (49.2ft)
20m DP9320081-5 20m DP8409359-5 20m DP9320083-5 20m DP8409360-5
(65.6ft) (65.6ft) (65.6ft) (65.6ft)
Incremental Incremental
encoder/Absolute encoder/Absolute
encoder encoder
6
Select connector kit. Select connector kit. Select connector kit. Select connector kit.
DP94020006-1 DP94020006-3 DP94020006-2 DP94020006-4
1)’ Select brake power supply.
100 VAC input /

200 VAC input
100 V input 200 V input

LPDE-1H01 LPSE-2H01
to (a)’’ (page 6 -160)
6 -159
(a)’’
Incremental Absolute encoder

encoder or A’’
absolute encoder?
(page 6 -161)
Incremental
encoder
SERVOPACK
/ /

3m JZSP-CAP00-01 3m DP9320086-1 3m DP9400064-1

(9.8ft) (9.8ft) (9.8ft)
5m JZSP-CAP00-02 5m DP9320086-2 5m DP9400064-2
(16.4ft) (16.4ft) (16.4ft)
10m JZSP-CAP00-03 10m DP9320086-3 10m DP9400064-3
(32.8ft) (32.8ft) (32.8ft)
15m JZSP-CAP00-04 15m DP9320086-4 15m DP9400064-4
(49.2ft) (49.2ft) (49.2ft)
20m JZSP-CAP00-05 20m DP9320086-5 20m DP9400064-5
(65.6ft) (65.6ft) (65.6ft)
6 Did you select

connector in 1) ?
Yes No
DP94020006-1
DP94020006-2
to (b) (page 6 -162)
6 -160
A’’
Absolute encoder
SERVOPACK
/ /

3m JZSP-CAP10-01 3m DP9320085-1 3m DP8409123-1

(9.8ft) (9.8ft) (9.8ft)
5m JZSP-CAP10-02 5m DP9320085-2 5m DP8409123-2
(16.4ft) (16.4ft) (16.4ft)
10m JZSP-CAP10-03 10m DP9320085-3 10m DP8409123-3
(32.8ft) (32.8ft) (32.8ft)
15m JZSP-CAP10-04 15m DP9320085-4 15m DP8409123-4
(49.2ft) (49.2ft) (49.2ft)
20m JZSP-CAP10-05 20m DP9320085-5 20m DP8409123-5
(65.6ft) (65.6ft) (65.6ft)
Did you select

connector in 1) ?
Yes No
6
DP94020006-3
DP94020006-4
to (b) (page 6 -162)
6 -161
(b)
3) Select 1CN connector cable and

peripheral device with 1CN
connection.
Yes
Use manual pulse generator?
No
Use manual pulse
generator?
Yes
Use other peripheral devices?
No
PRET-2C3T/
100M
Connector-to-terminal Cable with 1CN connector Manual pulse generator

1CN connector kit and no connector at the connector cable with no
block conversion unit other end connector at the other end
1m
(3.3 ft) JZSP-VBI14-01
1m JZSP-VBX04-01
0.5m 2m (3.3 ft)
JUSP-TA36Z JZSP-VBI14-02
(1.6 ft) (6.6 ft) 2m
6 (6.6 ft) JZSP-VBX04-02

DP9420007 1m 3m
JUSP-TA36Z-1 (9.8 ft) JZSP-VBI14-03 3m
(3.3 ft) (9.8 ft) JZSP-VBX04-03
2m 5m
JUSP-TA36Z-2 (16.4 ft) JZSP-VBI14-05 5m JZSP-VBX04-05
(6.6 ft) (16.4 ft)
to (c) (page 6 -163)
6 -162
(c)
4) Select 3CN connector cable

and peripheral device with
3CN connection.
Yes
Use external position indicator?
No
External position
Yes indicator
Use referencing by serial
communications?
RESET
No
MCIF-L8
3CN connector kit Connector kit for external Cable for external position
position indicator indicator
JZSP-VBX10-01
JZSP-VBX10-02
DE9409459 JZSP-VBX12
JZSP-VBX10-03 6
JZSP-VBX10-05
to (d) (page 6 -164)
6 -163
(d)
5) Select 6CN connector cable

and peripheral device with
6CN connection.
For SGDB-jjAM only. Not provided for
Yes SGDB-jjAMA.
Use Digital Switch Unit?
No Use Digital Switch

For SGDB-jjAM only.
Not provided for Unit?
Yes SGDB-jjAMA.
Use Contact Input Unit?
No MCIF-D86 MCIF-D80
Contact Input Unit (Connector
kit for Contact Input Unit end MCIF-D66 MCIF-D60
Yes supplied.)
MCIF-D44 MCIF-D40
Use other peripheral devices?
No
MCIF-R86
6
6CN connector kit, 6CN connector-terminal
block conversion unit, or 6CN cable Connector kit for Digital Switch Unit or
without connector at one end?
cable for Digital Switch Unit?
6CN connector kit or cable for

Digital Switch Unit?
6CN connector Connector-terminal Cable with 6CN Connector kit Cable for Digital
connector and no
kit block conversion connector at the other for Digital Switch Unit
unit end Switch Unit
1m JZSP-VBX24-01
(3.3 ft)
0.5m 1m 2m JZSP-VBX24-02
JUSP-TA50P (3.3 ft)
DE9411288-1 (6.6 ft)
(1.6 ft)
DE9411289 1m 2m 3m JZSP-VBX24-03
JUSP-TA50P-1 (6.6 ft)
DE9411288-2 (9.8 ft)
(3.3 ft)
2m 3m 5m JZSP-VBX24-05
JUSP-TA50P-2 DE9411288-3 JZSP-VBX22 (16.4 ft)
(6.6 ft) (9.8 ft)
to (e) (page 6 -165)
6 -164
(e)
6) Select molded-case circuit

breaker (MCCB) and noise filter.
What is SERVOPACK capacity?
0.5 kW 1.0 to1.5 kW 2 kW 3 kW 5 kW 6 kW 7.5 kW 11 kW 15 kW
Use circuit Use circuit Use circuit Use circuit Use circuit Use circuit Use circuit Use circuit Use circuit
breaker for breaker for breaker for breaker for breaker for breaker for breaker for breaker for breaker for
5 A power 10 A power 12 A power 18 A power 28 A power 32 A power 41 A power 60 A power 80 A power
capacity. capacity. capacity. capacity. capacity. capacity. capacity. capacity. capacity.
Noise filter Noise filter Noise filter Noise filter Noise filter Noise filter Noise filter Noise filter Noise filter
LF-310 LF-315A LF-320 LF-330 LF-340 LF-350 LF-360 LF-380K FN258-
100-35
7) Select magnetic contactor and

surge suppressor.
Magnetic contactor 6
HI-jjE
Surge Suppressor D This surge suppressor is for HI-jjE above.
CR50500BL
8) Select regenerative resistor unit.
What is SERVOPACK capacity?
3.0 kW or less 5.0 to 6.0 kW 7.5 to 15 kW
Not required JUSP-RA04 JUSP-RA05
End peripheral device selection.
6 -165
Operation environment requiring Enclosure IP67-based

A
The standard specification for SGMG, SGMS and
SGMD models is Enclosure IP67.
The shaft needs an oil seal. The motor and
encoder connectors must also be based on IP67.
Note: For G Series 1500 r/min models

(5.5 kW or more) and G Series
1000 r/min models (4.4 kW or
more), add a brake connector.
Encoder
With oil seal
Flexible
No Yes
conduit Any brake?
is used?
Yes No
Select plug, Back Select plug only.

Shell (straight or MS3106A20-29S (D190)
L-shaped) and
cable clamp.
No Flexible conduit Flexible conduit No
is used? is used?
6
Yes Yes
Select plug, Back Select plug Select plug Select plug, Back
Shell or End Bell, and according to the according to the Shell or End Bell, and
cable clamp according motor model. motor model. cable clamp according
to the motor model. to the motor model.
SGMG-55AjA Cannot be selected Can be selected Can be selected Cannot be selected

-75AjA
-1AAjA
-44AjB Connectors for brake Separately purchase Items for brake
-60AjB are also required. plugs for brake. can be selected.
Only these five models

can be selected.
to (b) (page 6 -162)

Note:1. Power cable and flexible conduit must be prepared by the customer.
2. The customer must purchase an appropriate encoder cable according to the encoder model
(incremental or absolute encoder) and an encoder connector kit (for the SERVOPACK end), and assemble them.
6 -166
6.5.2 Order List
Order lists are given below for the Servomotors, SERVOPACKs, Digital Operators, and pe-
ripheral devices which comprise the AC Servo Σ-Series. These order lists are a convenient aid
to selecting peripheral devices.
J SGMj Servomotor
Servomotor Model Qty
SGMj-jjjjjjjj
SGMj-jjjjjjjj
SGMj-jjjjjjjj
SGMj-jjjjjjjj
SGMj-jjjjjjjj
SGMj-jjjjjjjj
SGMj-jjjjjjjj
SGMj-jjjjjjjj
SGMj-jjjjjjjj
6
SGMj-jjjjjjjj
SGMj-jjjjjjjj
SGMj-jjjjjjjj
J SGDB SERVOPACK
SGDB SERVOPACKs have no cables or connectors. They must be purchased separately.
SERVOPACK Model Qty
SGDB-jjjjj
SGDB-jjjjj
SGDB-jjjjj
SGDB-jjjjj
SGDB-jjjjj
SGDB-jjjjj
6 -167
6.5.2 Order List
J Digital Operator
A Digital Operator is not included in SERVOPACKs. It must be purchased separately.
Digital Operator Model Qty
JUSP-OP02A-1
JUSP-OP03A
J Peripheral Devices
Order lists are given below for connectors, cables, and brake power supply units. They are dif-
ferent between SGMG/SGMS/SGMD and SGMP-15A Servomotors.
For SGM, SGMS, SGMD Servomotors

D Connectors
Main Circuit Connectors on Motor End (without Brake)
Each connector consists of a plug and a cable clamp.
(Purchase Separately)
Motor Model Connectors on Motor End Qty
Plug Cable Clamp Receptacle*
L-shaped Straight
6 SGMS- 10AjA MS3108B18-10S MS3106B18-10S MS3057-10A MS3102A18-10P

15AjA
20AjA
30AjA MS3108B22-22S MS3106B22-22S MS3057-12A MS3102A22-22P

40AjA
50AjA
SGMG- 05AjA MS3108B18-10S MS3106B18-10S MS3057-10A MS3102A18-10P
09AjA
13AjA
30AjA
44AjA
75AjA
1AAjA
1EAjA
* Connector on motor end already provided.
6 -168
Motor Model Connectors on Motor End Qty
L-shaped Straight
SGMG- 03AjB MS3108B18-10S MS3106B18-10S MS3057-10A MS3102A18-10P

06AjB
09AjB
12AjB MS3108B22-22S MS3106B22-22S MS3057-12A MS3102A22-22P
20AjB
30AjB
60AjB
SGMD- 22AjA MS3108B24-10S MS3106B24-10S MS3057-16A MS3102A24-10P
32AjA
40AjA
Main Circuit Connectors on Motor End (with Brake)

Motor Model Connectors on Motor End (with Brake) Qty 6

L-shaped Straight
SGMS- 10AjA MS3108B20-15S MS3106B20-15S MS3057-12A MS3102A20-15P

15AjA
20AjA
6 -169
6.5.2 Order List
Motor Model Connectors on Motor End (with Brake) Qty
L-shaped Straight
SGMS- 30AjA MS3108B24-10S MS3106B24-10S MS3057-16A MS3102A24-10P

40AjA
50AjA
SGMG- 05AjA MS3108B20-15S MS3106B20-15S MS3057-12A MS3102A20-15P
09AjA
13AjA
30AjA
44AjA
75AjA MS3108B10SL-3S
S3108 10S 3S MS3106A10SL-3S
S3106A10S 3S MS3057-4A
S305 4A MS3102A10SL-3P
S3102A10S 3
1AAjA
1EAjA
SGMG- 03AjB MS3108B20-15S MS3106B20-15S MS3057-12A MS3102A20-15P
06AjB
09AjB
20AjB
30AjB
6 44AjB MS3108B32-17S MS3106B32-17S MS3057-20A MS3102A32-17P
60AjB MS3108B10SL-3S
S3108 10S 3S MS3106A10SL-3S
S3106A10S 3S MS3057-4A
S305 4A MS3102A10SL-3P
S3102A10S 3
SGMD- 22AjA MS3108B24-10S MS3106B24-10S MS3057-16A MS3102A24-10P

32AjA
40AjA
Encoder Connectors on Motor End

Connectors on Encoder End Qty
L-shaped Straight
MS3108B20-29S MS3106B20-29S MS3057-12A MS3102A20-29P
6 -170
Encoder Connector Kit on SERVOPACK End (for 2CN)

This connector kit consists of a connector and a case.
Connector Kit Connector Kit Qty

on SERVOPACK
End Connector Case
Model Qty Model Qty
DE9406973 10120-3000VE* 1 10320-52A0-008* 1

* Manufactured by 3M
6 -171
6.5.2 Order List
Enclosure IP67 Main Circuit Connectors on Motor End (without Brake)

Motor Model Receptacle Plug End Bell: Manufactured Cable Clamp Manufac- Qty
by Japan Aviation turer
Electronics Industry,
Ltd.
Back Shell:
Manufactured by
Daiichi Denshi Kogyo
K.K.
Angle Straight
(L-shaped)
SGMS- 10AjA CE05-2A18- MS3106A18- CE-18BA-S CE02-18BS- CE3057-10A-* Daiichi

15AjA 10PD 10S (D190) S D hi
Denshi
Kogyo K.K.
KK
20AjA
30AjA JL04HV-2E22 JL04V-6A22- JL04-22EBL JL04-22EB JL04-2022CK Japan
-22PE-B 22SE (14) Aviation
40AjA Electronics
Industry
Industry,
50AjA Ltd.
SGMG- 05AjA CE05-2A18- MS3106A18- CE-18BA-S CE02-18BS- CE3057-10A-* Daiichi
09AjA 10PD 10S (D190) S D hi
Denshi
Kogyo K.K.
KK
13AjA
20AjA JL04HV-2E22 JL04V-6A22- JL04-22EBL JL04-22EB JL04-2022CK Japan
6 30AjA Electronics
Industry
Industry,
44AjA Ltd.
55AjA JL04V-2E32- JL04V-6A32- − − − Daiichi
75AjA 17PE-B
17PE B 17SE D hi
Denshi
Kogyo K.K.
KK
1AAjA
1EAjA
* Select an appropriate model

Connector on To be selected if Not required if flexible conduit is used according to the lead wire di-
motor end al- flexible conduit ameter. Refer to IP67-based
ready provided is used Encoder Connectors on Mo-
tor End.
6 -172
Ltd.
Back Shell:
Manufactured by
Daiichi Denshi Kogyo
K.K.
Angle Straight
(L-shaped)
SGMG- 03AjB CE05-2A18- MS3106A18- CE-18BA-S CE02-18BS- CE3057-10A-* Daiichi

10PD 10S (D190) S Denshi
06AjB Kogyo K.K.
09AjB
12AjB JL04HV-2E22 JL04V-6A22- JL04-22EBL JL04-22EB JL04-2022CK Japan

20AjB Electronics
Industry
Industry,
30AjB Ltd.
44AjB JL04V-2E32- JL04V-6A32- − − − Japan

17PE-B 17SE Aviation
Electronics
60AjB Industry,
Ltd.
SGMD- 22AjA JL04V-2E24- JL04-6A24- JL04-24EBL JL04-24E JL04-2428CK Japan

10PE-B 10SE (17) Aviation 6
32AjA Electronics
Industry
Industry,
40AjA Ltd.

motor end al- flexible conduit ameter. Refer to IP67-based
ready provided is used Encoder Connectors on Mo-
tor End.
6 -173
6.5.2 Order List
Enclosure IP67 Main Circuit Connectors on Motor End (with Brake)

Ltd.
Back Shell:
Denshi Kogyo K.K.
Angle Straight
(L-shaped)
SGMS- 10AjA JL04V-2E20- JL04V-6A20- JL04-20EBL JL04-20EB JL04-2022CK Japan

15PE-B 15SE (14) Aviation
15AjA Electronics
Industry
Industry,
20AjA Ltd.
30AjA JL04V-2E24- JL04V-6A24- JL04-24EBL JL04-24EB JL04-2428CK Japan
40AjA Electronics
Industry
Industry,
50AjA Ltd.
SGMG- 05AjA JL04V-2E20- JL04V-6A20- JL04-20EBL JL04-20EB JL04-2022CK Japan
09AjA Electronics
Industry
Industry,
13AjA Ltd.
6 20AjA JL04V-2E24- JL04V-6A24- JL04-24EBL JL04-24EB JL04-2428CK Japan
30AjA Electronics
Industry
Industry,
44AjA Ltd.
55AjA JL04V-2E32- JL04V-6A32- - - - Japan
75AjA 17PE-B
17PE B 17SE A i i
Aviation
Electronics
1AAjA CE05-2A10S MS3106A10S CE-10SLBA CE05-10SLB CE3057-4A-1*
Industry,
L 3PC
L-3PC L 3S(190)*1
L-3S(190)* -S*
S* A-S*
A S*
1EAjA Ltd.
* Connectors for brake power

Connector on To be selected if Not required if flexible conduit is used supply
motor end al- flexible conduit
ready provided is used
6 -174
Ltd.
Back Shell:
Denshi Kogyo K.K.
Angle Straight
(L-shaped)
SGMG- 03AjB JL04V-2E20- JL04V-6A20- JL04-20EBL JL04-20EB JL04-2022CK Japan

06AjB Electronics
Industry
Industry,
09AjB Ltd.
12AjB JL04V-2E24- JL04V-6A24- JL04-24EBL JL04-24EB JL04-2428CK Japan
20AjB Electronics
Industry
Industry,
30AjB Ltd.
44AjB JL04V-2E32- JL04V-6A32- - - - Japan
17PE-B 17SE Aviation
Electronics
60AjB CE05-2A10S MS3106A10S CE-10SLBA CE05-10SLB CE3057-4A-1*
Industry,
L-3PC L-3S(190)*1 -S* A-S*
Ltd.
SGMD- 22AjA JL04V-2E24- JL04V-6A24- JL04-24EBL JL04-24EB JL04-2428CK Japan
32AjA Electronics
40AjA
Industry
Industry,
Ltd.
6
* Connectors for brake power
Connector on To be selected if Not required if flexible conduit is used supply
motor end al- flexible conduit
ready provided is used
6 -175
6.5.2 Order List
IP67-based Encoder Connectors on Motor End

Receptacle Plug End Bell: Manufactured by Cable Clamp Manufac- Qty

Japan Aviation Electronics turer
Industry, Ltd.
Back Shell: Manufactured by
Daiichi Denshi Kogyo K.K.
Angle Straight
(L-shaped)
97F3102E20-29 MS3106A20-29 CE-20BA-S CE02-20BS-S CE3057-12A-1* Daiichi Denshi

P S(D190) Kogyo K.K.

motor end al- flexible conduit ameter. See the following
ready provided is used table.
Note: Encoder connectors on the SERVOPACK end (2CN) are the same as the encoder connectors included in the connector kit
for the SERVOPACK end (DE9406973).
6 -176
Cable clamp models classified according to lead wire diameter
Cable Clamp Model Lead Wire Diameter Range
CE3057-10A-1 φ10.5 to φ14.1
CE3057-10A-2 φØ8.5 to φ11.0
CE3057-10A-3 φ5.5 to φ9.7
CE3057-12A-1 φ12.5 to φ16.0
CE3057-12A-2 φ9.5 to φ13.0
CE3057-12A-3 φ6.8 to φ10.0
JL04-2022CK (14) φ12.9 to φ15.9
JL04-2428CK (17) φ15 to φ18
When flexible conduit is used:
Connector Model (Straight) Conduit Model Lead Wire Diameter Range
RCC-106RL-MS32F VF-06 (SR-06) Max. φ20

6
D Brake Power Supply
Customer must purchase a Brake Power Supply when using a Servomotor with brake.
Brake Power Supply Model Qty
LPSE-2H01 (for 200 VAC input)
LPDE-1H01 (for 100 VAC input)
6 -177
6.5.2 Order List
D Cables
Cables for Incremental Encoder (Cable with Loose Wire End on Encoder End)
Customer must purchase and attach connectors on encoder end and encoder connectors
on servomotor end.
Cable Model Qty
DE9411276-1 3m (9.8 ft)
DE9411276-2 5m (16.4 ft)
DE9411276-3 10m (32.8 ft)
DE9411276-4 15m (49.2 ft)
DE9411276-5 20m (65.6 ft)
Cables with Straight Plug for Incremental Encoder

Cable Model Qty
JZSP-CBP0S-01 3m (9.8 ft)
6 JZSP-CBP0S-02 5m (16.4 ft)
Cables with L-shaped Plug for Incremental Encoder

Cable Model Qty
JZSP-CBP0L-01 3m (9.8 ft)
6 -178
Cables with Loose Wire End on Encoder End for Absolute Encoder
Customer must purchase and attach connectors on encoder end and encoder connectors
on servomotor end.
Cable Model Qty
DE9411277-1 3m (9.8 ft)
DE9411277-2 5m (16.4 ft)
DE9411277-3 10m (32.8 ft)
DE9411277-4 15m (49.2 ft)
DE9411277-5 20m (65.6 ft)
Cables with Straight Plug for Absolute Encoder

Cable Model Qty

6
Cables with L-shaped Plug for Absolute Encoder

Cable Model Qty
6 -179
6.5.2 Order List
Enclosure IP67-based Encoder Cables

IP67-based encoder cables are not supplied. Customers must purchase an encoder connec-
tor kit (2CN) on the SERVOPACK end, an IP67-based encoder connector on the servomo-
tor end, and cable materials, then assemble these items.
• Back-up Battery
(1 provided with SERVOPACK)
Battery Model Qty

ER6VCY+DF3. CONNECTOR (3.6 V)
• 1CN for I/O Signals

1CN Connector
Connector Model Qty

JZSP-VAI09
1CN
1 × 1CN Connector Only

1CN Connector-Terminal Block Conversion Unit
6 (Purchase Separately)
Conversion Unit Model Qty

JUSP-TA36Z
1CN
1CN Connector and Cable (0.5 m)

Cable with 1CN Connector and Loose Wire End
Cable Model Qty
JZSP-VBI14-01 1 m (3.3 ft)
JZSP-VBI14-02 2 m (6.6 ft)
JZSP-VBI14-03 3 m (9.8 ft)
JZSP-VBI14-05 5 m (16.4 ft)
6 -180
1CN
Manual Pulse Generator Cable

(Branch connection, without connector on one end and with 1CN connector on SER-
VOPACK end.)
Cable Model Qty
JZSP-VBX04-01 1 m (3.3 ft)
JZSP-VBX04-02 2 m (6.6 ft)
JZSP-VBX04-03 3 m (9.8 ft)
JZSP-VBX04-05 5 m (16.4 ft)
1CN for SERVOPACK
• 3CN for I/O Signals 6

3CN Connector
Connector Model Qty
DE9409459
3CN for SERVOPACK

External Position Indicator Cable
Cable Model Qty
JZSP-VBX10-01 1 m (3.3 ft)
JZSP-VBX10-02 2 m (6.6 ft)
JZSP-VBX10-03 3 m (9.8 ft)
JZSP-VBX10-05 5 m (16.4 ft)
6 -181
6.5.2 Order List
3CN for SERVOPACK 1CN for External Position Indicator
Connector Kit for External Position Indicator

Connector Kit Model Qty
JZSP-VBX12
3CN for SERVOPACK
6
1CN for External Position Indicator
• 6CN for I/O Signals

6CN Connector
Connector Model Qty
DE9411289
6CN
1 × 6CN Connector Only
6CN Connector-Terminal Block Conversion Unit

Conversion Unit Model Qty
JUSP-TA50P
6 -182
6CN
6CN Connector and Cable (0.5 m)
Cable with 6CN Connector and Loose Wire End

Cable Model Qty
DE9411288-1 1 m (3.3 ft)
DE9411288-2 2 m (6.6 ft)
DE9411288-3 3 m (9.8 ft)
6CN
Digital Switch Unit or Contact Input Unit Cable

(Branch connection, without connector on one end and with connector on Digital 6
Switch Unit or Contact Input Unit end, and 6CN connector on SERVOPACK end.)
Cable Model Qty
JZSP-VBX24-01 1 m (3.3 ft)
JZSP-VBX24-02 2 m (6.6 ft)
JZSP-VBX24-03 3 m (9.8 ft)
JZSP-VBX24-05 5 m (16.4 ft)
6CN for SERVOPACK
1CN for Digital Switch Unit or 3CN

for Contact Input Unit
6 -183
6.5.2 Order List
Connector Kit for Digital Switch Unit

JZSP-VBX22
6CN for SERVOPACK 1CN for Digital Switch Unit
For SGM and SGMP Servomotors (Excluding SGMP-15A)

Cable for Servomotor without Brake, with Connector and Amplifier Terminal
Cable Model Qty
DP9320081-1 3 m (9.8 ft)
DP9320081-2 5 m (16.4 ft)
DP9320081-3 10 m (32.8 ft)
DP9320081-4 15 m (49.2 ft)

6
DP9320081-5 20 m (65.6 ft)
Cables for Servomotor without Brake, Cable Material Only
Customer must purchase and attach the connector and amplifier terminal.
Cable Model Qty
DP8409359-1 3 m (9.8 ft)
DP8409359-2 5 m (16.4 ft)
DP8409359-3 10 m (32.8 ft)
DP8409359-4 15 m (49.2 ft)
DP8409359-5 20 m (65.6 ft)
6 -184
Cables for Servomotor with Brake, with Connector and Amplifier Terminal
Cable Model Qty
DP9320083-1 3 m (9.8 ft)
DP9320083-2 5 m (16.4 ft)
DP9320083-3 10 m (32.8 ft)
DP9320083-4 15 m (49.2 ft)
DP9320083-5 20 m (65.6 ft)
Cables for Servomotor with Brake, Cable Material Only
Cable Model Qty
DP8409360-1 3 m (9.8 ft)
DP8409360-2 5 m (16.4 ft)
DP8409360-3 10 m (32.8 ft)

6
DP8409360-4 15 m (49.2 ft)
DP8409360-5 20 m (65.6 ft)
Connector Kit
DP9420006-1 (for incremental encoder, without brake)
DP9420006-2 (for incremental encoder, with brake)
DP9420006-3 (for absolute encoder, without brake)
DP9420006-4 (for absolute encoder, with brake)
D The following three items are supplied as a set.
1. Motor connector on motor end: Connector for motor with or without brake × 1
6 -185
6.5.2 Order List
2. Encoder connector on motor end: Connector for incremental or absolute encoder × 1

3. Encoder connector on SERVOPACK end: 2CN connector × 1
Connectors for SGMG, SGMS, and SGMD Servomotors are provided separately. Refer
to 6.6.3 Connector for models and other information.
Motor Connector on Motor End Encoder Connector on Motor End Encoder Connector on
SERVOPACK End
Without Brake
For Incremental Encoder
For SGMP-15A Servomotors

D Servomotor Cables
Cables for Servomotor without Brake, with Connector and Amplifier Terminal
Cable Model Qty
DP9320827-1 3 m (9.8 ft)
DP9320827-2 5 m (16.4 ft)
DP9320827-3 10 m (32.8 ft)
6 DP9320827-4 15 m (49.2 ft)
DP9320827-5 20 m (65.6 ft)
Cables for Servomotor without Brake, Cable Material Only

Cable Model Qty
DP9402221-1 3 m (9.8 ft)
DP9402221-2 5 m (16.4 ft)
DP9402221-3 10 m (32.8 ft)
DP9402221-4 15 m (49.2 ft)
DP9402221-5 20 m (65.6 ft)
6 -186
Cables for Servomotor with Brake, with Connector and Amplifier Terminal
Cable Model Qty
DP9320828-1 3 m (9.8 ft)
DP9320828-2 5 m (16.4 ft)
DP9320828-3 10 m (32.8 ft)
DP9320828-4 15 m (49.2 ft)
DP9320828-5 20 m (65.6 ft)
Cables for Servomotor with Brake, Cable Material Only

Customer must purchase and attach the connector and amplifier terminals.
Cable Model Qty
DP9402222-1 3 m (9.8 ft)
DP9402222-2 5 m (16.4 ft)
DP9402222-3 10 m (32.8 ft) 6

DP9402222-4 15 m (49.2 ft)
DP9402222-5 20 m (65.6 ft)
D Connectors
For SGMP-15A Servomotors, purchase one of the following connectors.
DP9420016-1 (for incremental encoder, no brake)
DP9420016-2 (for incremental encoder, with brake)
DP9420016-3 (for absolute encoder, no brake)
DP9420016-4 (for absolute encoder, with brake)
D The following three items are supplied as a set.

• Main circuit connector on motor end: Connector for motor with or without brake × 1
6 -187
6.5.2 Order List
• Encoder connector on motor end: Connector for incremental or absolute encoder × 1

• Encoder connector on SERVOPACK end: Connector 2CN × 1
Connectors for SGMG, SGMS, and SGMD Servomotors are provided separately. Refer
to 6.6.3 Connector for models and other information.
Main Circuit Connector on Encoder Connector on Motor End
Motor End
With Brake
For Incremental Encoder
Encoder Connector on SERVOPACK End
For SGM and SGMP Servomotors

D Brake Power Supply
The customer must purchase a brake power supply when using a servomotor with brake.
6 (Purchase Separately)
Brake Power Supply Model Qty
LPSE-2H01 (for 200 VAC input)
LPDE-1H01 (for 100 VAC input)
D Encoder Cables
Cables for Incremental Encoder, with Connector on Both Ends
Cable Model Qty
JZSP-CAP00-01 3m (9.8 ft)
JZSP-CAP00-02 5m (16.4 ft)
JZSP-CAP00-03 10m (32.8 ft)
JZSP-CAP00-04 15m (49.2 ft)
JZSP-CAP00-05 20m (65.6 ft)
6 -188
Cables for Incremental Encoder, SERVOPACK End without Connectors

Customer must purchase and attach connector on SERVOPACK end and connector kit.
Cable Model Qty
DE9411276-1 3m (9.8 ft)
DE9411276-2 5m (16.4 ft)
DE9411276-3 10m (32.8 ft)
DE9411276-4 15m (49.2 ft)
DE9411276-5 20m (65.6 ft)
Cables for Incremental Encoder, Cable Only

Customer must purchase and attach connectors on both ends of cable and connector kit.
Cable Model Qty
B9400064-1 3m (9.8 ft)
B9400064-2 5m (16.4 ft)
B9400064-3 10m (32.8 ft) 6

B9400064-4 15m (49.2 ft)
B9400064-5 20m (65.6 ft)
Cables for Absolute Encoder, Connectors on Both Ends

Cable Model Qty
JZSP-CAP10-01 3m (9.8 ft)
JZSP-CAP10-02 5m (16.4 ft)
JZSP-CAP10-03 10m (32.8 ft)
JZSP-CAP10-04 15m (49.2 ft)
JZSP-CAP10-05 20m (65.6 ft)
6 -189
6.5.2 Order List
Cables for Absolute Encoder, SERVOPACK End without Connectors

Customer must purchase and attach connector on SERVOPACK end and connector kit.
Cable Model Qty
DP9320085-1 3m (9.8 ft)
DP9320085-2 5m (16.4 ft)
DP9320085-3 10m (32.8 ft)
DP9320085-4 15m (49.2 ft)
DP9320085-5 20m (65.6 ft)
Cables for Absolute Encoder, Cable Only

Customer must purchase and attach connectors on both ends of cable and connector kit.
Cable Model Qty
DP8409123-1 3m (9.8 ft)
DP8409123-2 5m (16.4 ft)
6 DP8409123-3 10m (32.8 ft)
DP8409123-4 15m (49.2 ft)
DP8409123-5 20m (65.6 ft)
J Other Peripheral Devices

Order lists are given below for noise filters, magnetic contactors, surge suppressors, regenera-
tive resistor units, and personal computer connecting cables.
D Noise Filter
Noise Filter Model Qty
LF-310 (10A)
LF-315 (15A)
LF-320 (20A)
LF-330 (30A)
6 -190
Noise Filter Model Qty
LF-340 (40A)
LF-350 (50A)
LF-360 (60A)
LF-380K (80A)
FN258-100/35 (100A)
D Magnetic Contactor
Magnetic Contactor Model Qty
HI-15E5 (30A)
HI-18E (35A)
HI-25E (50A)
HI-30E (65A)
HI-35E (75A)
D Surge Suppressor
Surge Suppressor Model Qty

6
CR50500BL
D Regenerative Resistor Unit

Regenerative Resistor Unit Model Qty
JUSP-RA04
JUSP-RA05
D Personal Computer Connecting Cables

Cable Model Qty
DE9408565 (for PC/AT-compatible computers) 2m (6.6 ft)
6 -191
6.6.1 Cable Specifications and Peripheral Devices
6.6 Specifications and Dimensional Drawings of Peripheral

Devices
This section shows the specifications and dimensional drawings of the peripheral devices required
for the Σ-Series servo system. The sequence of peripheral devices is given by the Flowchart for
Peripheral Device Selection in 6.5.1 Selecting Peripheral Devices.
The cable sizes and peripheral devices for SGDB SERVOPACKs are listed in the following
tables.
IMPORTANT Wiring Precautions

Do not pass the power lines and signal lines through the same duct, or bundle them together. Power lines and
signal lines should be laid at least 30 cm apart.
Use twisted-pair cables and multi-core shielded twisted-pair cables for signal lines and encoder (PG) feedback
lines. Command input lines should be no more than 5m, and PG feedback ines should be no more than 20 m
in length.
6
J Cable Sizes
The following table shows the cable size specifications.
Table 6.16 SERVOPACK Cable Sizes
External Terminal SGDB- Example Cable Size (mm2)

Name
05AM 10AM 15A 20A 30AM 50AM 60AM 75AM 1AA 1EA
Terminal
M M M M
Symbol
Online Main Cir- L1, L2, L3 HIV HIV HIV 3.5 or HIV HIV HIV 8 HIV HIV 22 or
Terminal cuit Power 1.25 or 2.0 or more 3.5 or 5.5 or or 14 or more
Input Ter- more more more more more more
minal
Motor U, V, W HIV HIV 3.5 or more HIV HIV 8 HIV 14 or more HIV 22 or
Connection 1.25 or 5.5 or or more
Terminal more more more
Control L1C, L3C HIV 1.25 or more

Power
Input
Terminal
6 -192
6.6 Specifications and Dimensional Drawings of Peripheral Devices
External Terminal SGDB- Example Cable Size (mm2)

Name
05AM 10AM 15A 20A 30AM 50AM 60AM 75AM 1AA 1EA
Terminal
M M M M
Symbol
Offline Control I/O 1CN, 6CN Shielded twisted-pair or twisted-pair cables

Terminal Signal
Tinned annealed copper twisted cable with core 0.12 mm2 or greater.
Connector
Outside dimensions of finished cable: max
max. φ16 (for 1CN and 6CN); max
max. φ11 (for 2CN)
PG Signal 2CN
Connector
Ground HIV 2.0 or more

Terminal
Note: 1. Cable size selection conditions: Ambient temperature 40_C, 3 cables per bundle, and rated current flowing
2. For the main circuit, use cables with a dielectric strength of 600 V or more.
3. Consider allowable current reduction ratio if cables are bundled in rigid PVC tube or metal ducts.
The types of cable are shown in the table below. Use it in combination with the tables.
Cable Type Conductor Allowable Temperature

_C
Symbol Name
PVC Normal vinyl cable −
IV 600 V vinyl cable 60
HIV Temperature-resistant vinyl cable 75
Note: 1. For the main circuit, use cables with a dielectric strength of 600 V or higher. 6
2. Consider allowable current reduction ratio if cables are bundled in rigid PVC tube or
metal ducts.
3. Use temperature-resistant cable under high ambient or panel temperature where normal
vinyl cables rapidly deteriorate.
6 -193
J Models and Capacities of Peripheral Devices

The models and capacities of peripheral devices compatible with SERVOPACK are shown in
Table 6.17 Models and Capacities of Peripheral Devices
SERVOPACK Motor Model Motor MCCB or Main Power Recommended Power

Model Selection Fuse Inrush Line Filter*2 ON/OFF
SGDB- (Cn-2A) Capacity*1 Current Switch
(peak value)
05AM SGMG-03AjB 171 5A 28A LF310(10A) HI-15E5(30A)
SGM-04A 106
SGMP-04A 126
SGMG-05AjA 142
10AM SGMG-06AjB 172 8A LF315(15A)
SGM-08A 107
SGMP-08A 127
SGMG-09AjA 143
SGMG-09AjB 173
SGMG-10AjA 163
6 15AM SGMG-12AjB 174 10A
SGMG-13AjA 144
SGMP-15A 128
SGMS-15AjA 164
* 1. Braking characteristics (at 25_C): 200% for 2 s or longer, 700% for 0.01 s or longer.
* 2. Yaskawa recommends noise filters manufactured by Tokin Corp and by Shaffner. Yaskawa Controls Co., Ltd. can supply these
noise filters.
6 -194
SERVOPACK Motor Model Motor MCCB or Main Power Recommended Power

Model Selection Fuse Inrush Line Filter*2 ON/OFF
SGDB- (Cn-2A) Capacity*1 Current Switch
(peak value)
20AM SGMG-20AjA 145 12A 56A LF320(20A) HI-18E(35A)
SGMG-20AjB 175
SGMS-20AjA 165
30AM SGMD-22AjA 155 18A LF330(30A)
SGMG-30AjA 146
SGMG-30AjB 176
SGMG-30AjA 166
50AM SGMD-32AjA 156 28A 58A LF340(40A)
SGMG-44AjA 147
SGMG-44AjB 177
SGMS-40AjA 167
SGMD-40AjA 157 HI-25E(50A)
SGMS-50AjA 168
60AM SGMG-55AjA 148 32A 93A LF350(50A)
SGMG-60AjB 178 6
75AM SGMG-75AjA 149 41A LF360(60A) HI-30E(65A)
1AAM SGMG-1AAjA 140 60A 116A LF380K(80A) HI-35E(75A)
1EAM SGMG-1EAjA 150 80A FN258-100/35 HI-50E(100A)

(100A) (made by
Schaffner)
* 1. Braking characteristics (at 25_C): 200% for 2 s or longer, 700% for 0.01 s or longer
* 2. Yaskawa recommends noise filters manufactured by Tokin Corp and by Shaffner. Yaskawa Controls Co., Ltd. can supply these
noise filters.
6 -195
6.6.2 Motor Cables
The appropriate cables for SERVOPACK connectors 1CN, 2CN, 3CN, and 6 CN are shown
in the table below.
Cable selection conditions: three cables per bundle at an ambient temperature of 40_C, with
the rated current flowing.
Table 6.18 Cables for Connectors 1CN and 2CN
Control I/O Signal 1CN Cable Use twisted-pair cable or shielded twisted-
Connector and pair cable.
6CN
Applicable Wire Size AWG24, 26, 28, 30
Finished Cable Ø16.0 mm (Ø 0.63 in.) MAX.

Dimensions
Serial 3CN Cable Use shielded twisted-pair cable.

Communications
Connector Applicable Wire Size AWG24, 26, 28, 30
Finished Cable φ7.0 mm (φ0.28 in.) MAX.

Dimensions
PG Signal Connector 2CN Cable Use Yaskawa cable.

Use shielded twisted-pair cable if Yaskawa
cable is not used.
Applicable Wire Size Applicable wire sizes: AWG24, 26, 28, 30.
However, use AWG22 (0.32 mm2) for en-
coder power supply and FG line. Use
AWG26 (0.12 mm2) for other signal lines.
6 These connections permit wiring distances
up to 20 m (65.6 ft).
Finished Cable Ø11.6 mm (Ø0.46 in.) MAX.

Dimensions
6.6.2 Motor Cables
Select an appropriate motor cable that meets the customer’s service conditions by referring to
the cable specifications described in 6.6.1 Cable Specifications and Peripheral Devices.
6 -196
6.6.3 Connector
Each connector consists of a plug, cable clamp, and back shell. The connectors to be used differ
according to the servomotor used.
This section describes connectors separately for the SGMG/SGMS/SGMD models, SGM/
SGMP models (excluding SGMP-15A), and SGMP-15A model.
J For the SGMG, SGMS, SGMD Models

Connectors are divided into the three types shown in the figure: one encoder connector at both
the motor and SERVOPACK ends of the cable and a motor connector at the motor end of the
cable. These connectors are common to both encoder types (incremental and absolute encod-
ers).
Encoder Connector Encoder Connector at Main Circuit (Power Line) Connector

at Motor End SERVOPACK End at Motor End of Cable
of Cable of Cable
To connect the motor at the SERVOPACK end of the cable, use the crimp terminals (to be
prepared by the customer).
The connector model to be used differs according to the following items:
D Straight plug or L-shaped plug 6

D Motor with or without brake
D Model and capacity of the servomotor
D Operating environment
Always order the connectors under the following conditions:
D Connectors for all cables (required regardless of whether the motor has brake or not)
D Connectors for encoder cables with a connector only on the SERVOPACK end of the cable
or for encoder cables without connector (required regardless of the encoder model (incre-
mental or absolute))
D Connectors for encoders (on the motor and SERVOPACK ends of the cable) when IP 67
specifications are used
6 -197
6.6.3 Connector
Encoder Cable Connectors

Encoder cable connectors are divided into the six models shown in the following table accord-
ing to the operating environment and the plug shape.
Table 6.19 Models of Encoder Cable Connector
Operating Environment Parts Straight Model L-shaped (Angle) Manufacturer

Model
Standard − Plug MS3106B20-29S MS3108B20-29S Daiichi Denshi Kogyo

Environment KK
K.K.
Cable Clamp MS3057-12A-*
IP67-based Flexible Conduit Plug Only MS3106A20-29S −

Environment Used (D190)
Flexible Conduit Plug Only MS3106A20-29S(D190)

Not Used
Back Shell CE02-20BS-S CE-20BA-S
Cable Clamp CE3057-12A-*
* Select an appropriate model according to the lead wire diameter.
D Examples of Connector Combination

The following examples show how to combine connectors manufactured by Daiichi Den-
shi Kogyo K.K.
6
Straight Plug MS3106A
Non-waterproof Cable Clamp MS3057

Straight Plug MS3106B
L-shaped Plug MS3108B
Figure 6.6 For Standard Environment
6 -198
Flexible Conduit
Waterproof Plug MS (D190) Waterproof Straight Back

Shell CE02-XXBS-S
Waterproof Cable Clamp CE3057
Waterproof Angle Back Shell CE-XXBA-S
Figure 6.7 For IP67-based Environment
Servomotor Cable Connectors

Servomotor cable connectors are grouped according to the environment in which the motor
is used, the presence or absence of a brake, and the model and capacity of the motor.
The crimp terminal on the SERVOPACK side should be supplied by the customer.
D Standard Environment
The following table shows the connectors for standard servomotors without brake.
Table 6.20 Connectors for Standard Servomotors without Brake

6
15AjA
20AjA
40AjA
50AjA
09AjA
13AjA
30AjA
44AjA
75AjA
1AAjA
1EAjA

6 -199
6.6.3 Connector

06AjB
09AjB
20AjB
30AjB
60AjB
32AjA
40AjA

MS3106B Straight Plug Shell
6
Unit: mm (in)
Shell Joint Screw Length of Overall Outside Cable Clamp Effective Maximum
Size A Joint Portion Length Diameter of Set Screw Screw Width
J¦0.12 L or less Joint Nut Length Y or less
(¦0.0047) ØQ +0 W or more
−0.38
(−0.0150)
18 11/8-18UNEF 18.26 (0.72) 52.37 (2.06) 34.13 (1.34) 1-20UNEF 9.53 (0.38) 42 (1.65)
20 11/4-18UNEF 18.26 (0.72) 55.57 (2.19) 37.28 (1.47) 13/16-18UNEF 9.53 (0.38) 47 (1.85)
22 13/8-18UNEF 18.26 (0.72) 55.57 (2.19) 40.48 (1.59) 13/16-18UNEF 9.53 (0.38) 50 (1.97)
24 11/2-18UNEF 18.26 (0.72) 58.72 (2.31) 43.63 (1.72) 17/16-18UNEF 9.53 (0.38) 53 (2.09)
32 2-18UNS 18.26 (0.72) 61.92 (2.44) 56.33 (2.28) 13/4-18UNS 11.13 (0.44) 66 (2.60)
6 -200
MS3108B L-Plug Shell
Unit: mm (in)
Shell Joint Screw Length of Overall Outside R0.5 U0.5 Cable Clamp Effective
Size A Joint Length Diameter of (0.02) (0.02) Set Screw Screw
Portion L or less Joint Nut V Length
J¦0.12 +0 W or more
ØQ −0.38
(¦0.0047)
(−0.0150)
10SL
18 11/8-18UNEF 18.26 (0.72) 68.27 (2.69) 34.13 (1.34) 20.5 (0.81) 30.2 (1.19) 1-20UNEF 9.53 (0.38)
20 11/4-18UNEF 18.26 (0.72) 76.98 (3.03) 37.28 (1.45) 22.5 (0.89) 33.3 (1.31) 13/16-18UNEF 9.53 (0.38)
22 13/8-18UNEF 18.26 (0.72) 76.98 (3.03) 40.48 (1.59) 24.1 (0.95) 33.3 (1.31) 13/16-18UNEF 9.53 (0.38)
24 11/2-18UNEF 18.26 (0.72) 86.51 (3.41) 43.63 (1.72) 25.6 (1.01) 36.5 (1.44) 17/16-18UNEF 9.53 (0.38)
32 2-18UNS 18.26 (0.72) 95.25 (3.75) 56.33 (2.22) 32.8 (1.29) 44.4 (1.75) 13/4-18UNS 11.13 (0.44)
MS3106A Straight Plug Shell
Unit: mm (in)
Shell Joint Screw Length of Overall Outside ΦN0.5 Cable Clamp Effective
Size A Joint Portion Length Diameter of (0.0197) Set Screw Screw
J¦0.12 L¦1.5 Joint Nut V Length
(¦0.0047) (¦0.00591) ØQ +0 W or more
−0.38
(−0.0150)
10SL 5/8-24UNEF 13.49 (0.53) 34.9 (1.37) 22.22 (0.87) 19.12 (0.75) 5/8-24UNEF 9.53(0.38)
6 -201
6.6.3 Connector
MS3057-XXA Cable Clamp (with Rubber Bushing)
(Inside Diameter of Bushing)

(0.06)
(Inside Diameter of Cable Clamp)
(Movable Range)
Unit: mm (in)
Part Shell Overall Outside Cable ØD ØE F G0.7 Set Screw Attached

Number Size Length Diameter Clamp (¦0.03) V Bushing
of A¦0.7 ØB¦0.7 C
Conn (¦0.0276) (¦0.0276)
ector
MS3057-4A 10SL, 20.6 (0.81) 20.6 (0.81) 10.3 7.9 5.6 1.6 22.2 5/8-24UNEF AN3420-4
12S (0.41) (0.31) (0.22) (0.06) (0.87)
MS3057-10A 18 23.8 (0.94) 30.1 (1.19) 10.3 15.9 14.3 3.2 31.7 1-20UNEF AN3420-10
(0.41) (0.63) (0.56) (0.13) (1.25)
MS3057-12A 20, 22 23.8 (0.94) 35.0 (1.38) 10.3 19.0 15.9 4.0 37.3 13/16-18UNEF AN3420-12
(0.41) (0.75) (0.63) (0.16) (1.49)
MS3057-16A 24, 28 26.2 (1.03) 42.1 (1.66) 10.3 23.8 15.9 4.8 42.9 17/16-18UNEF AN3420-12
6 (0.41) (0.94) (0.63) (0.19) (1.69) AN3420-16
19.1
(0.75)
MS3057-20A 32 27.8 (1.09) 51.6 (2.03) 11.9 31.7 19.1 6.3 51.6 13/4-18UNS AN3420-16
(0.47) (1.25) (0.75) (0.25) (2.03) AN3420-20
23.8
(0.94)
6 -202
The following table shows the connectors for standard servomotors with brake.
Table 6.21 Connectors for Standard Servomotors with Brakes
Motor Model Connectors on Motor Side

15AjA
20AjA
40AjA
50AjA
09AjA
13AjA
30AjA
44AjA
75AjA MS3102A10SL-3P MS3108B10SL-3S MS3106A10SL-3S MS3057-4A
1AAjA
1EAjA
06AjB
09AjB
6
20AjB
30AjB
60AjB MS3102A10SL-3P
S3102A10S 3 MS3108B10SL-3S
S3108 10S 3S MS3106A10SL-3S
S3106A10S 3S MS3057-4A
S305 4A

32AjA
40AjA

Note: In the cells containing two rows, the upper row connector model is for the motor and the lower row connector model is for
the brake.
6 -203
6.6.3 Connector
D IP67-based Environment
The following table shows the connectors for IP67-based servomotors without brake.
Table 6.22 Connectors for IP67-based Servomotors without Brakes
Motor Model Receptacle Plug End Bell: Manufactured by Cable Clamp Manufacturer
Japan Aviation Electronics
Industry, Ltd.
Back Shell: Manufactured
by Daiichi Denshi Kogyo
K.K.
Angle Straight
(L-shaped)
M SGMS- 10AjA CE05-2A18-1 MS3106A18-1 CE-18BA-S CE02-18BS-S CE3057-10A-* Daiichi Denshi

o 15AjA 0PD 0S(D190) Kogyo K.K
t 20AjA
o
r 30AjA JL04HV-2E22 JL04V-6A22-2 JL04-22EBL JL04-22EB JL04-2022CK Japan Aviation
40AjA -22PE-B 2SE (14) Electronics In-
50AjA dustry, Ltd.
SGMG- 05AjA CE05-2A18-1 MS3106A18-1 CE-18BA-S CE02-18BS-S CE3057-10A-* Daiichi Denshi

09AjA 0PD 0S(D190) Kogyo K.K
13AjA
20AjA JL04HV-2E22 JL04V-6A22-2 JL04-22EBL JL04-22EB JL04-2022CK Japan Aviation

30AjA -22PE-B 2SE (14) Electronics In-
44AjA dustry, Ltd.
6 55AjA JL04V-2E32- JL04V-6A32-1 *1 *1 *1 Japan Aviation

75AjA 17PE-B 7SE Electronics In-
1AAjA dustry, Ltd.
1EAjA
SGMG- 03AjB CE05-2A18-1 MS3106A18-1 CE-18BA-S CE02-18BS-S CE3057-10A-* Daiichi Denshi

06AjB 0PD 0S(D190) Kogyo K.K
09AjB
12AjB JL04HV-2E22 JL04V-6A22-2 JL04-22EBL JL04-22EB JL04-2022CK Japan Aviation

20AjB -22PE-B 2SE (14) Electronics In-
30AjB dustry, Ltd.
44AjB JL04V-2E32- JL04V-6A32-1 *1 *1 *1 Japan Aviation

60AjB 17PE-B 7SE Electronics In-
dustry, Ltd.
SGMD- 22AjA JL04V-2E24- JL04-6A24- JL04-24EBL JL04-24EB JL04-2428CK Japan Aviation

32AjA 10PE-B 10SE (17) Electronics In-
40AjA dustry, Ltd.

* 1. The SGMG-55AjA, -75AjA, -1AAjA, -1EAjA, -44AjB, and -60AjB motors do not contain End Bell (manufactured
by Japan Aviation Electronics Industry, Ltd.). For these motors, use flexible conduit instead.
6 -204
Note: 1. To ensure compliance with IP67, always use correct combinations of receptacles and plugs.
2. Select an appropriate cable clamp model (mark *) according to the lead wire diameter.
3. When flexible conduit is used, select plug only.
6 -205
6.6.3 Connector
The following table shows the connectors for IP67-based servomotors with brake.
Table 6.23 Connectors for IP67-based Servomotors with Brakes
Industry, Ltd.
Back Shell: Manufactured by
Daiichi Denshi Kogyo K.K.
Angle Straight
(L-shaped)
M SGMS- 10AjA JL04V-2E20-1 JL04V-6A20-1 JL04-20EBL JL04-20EB JL04-2022CK Japan Aviation

o 15AjA 5PE-B 5SE (14) Electronics In-
t 20AjA dustry, Ltd.
o
r 30AjA JL04V-2E24-1 JL04V-6A24-1 JL04-24EBL JL04-24EB JL04-2428CK Japan Aviation
s 40AjA 0PE-B 0SE (17) Electronics In-
50AjA dustry, Ltd.
SGMG- 05AjA JL04-2E20-15 JL04V-6A20-1 JL04-20EBL JL04-20EB JL04-2022CK Japan Aviation

09AjA PE-B 5SE (14) Electronics In-
13AjA dustry, Ltd.
20AjA JL04V-2E24-1 JL04V-6A24-1 JL04-24EBL JL04-24EB JL04-2428CK Japan Aviation

30AjA 0PE-B 0SE (17) Electronics In-
44AjA dustry, Ltd.
55AjA JL04V-2E32-1 JL04V-6A32-1 *2 *2 *2 Japan Aviation
6 75AjA
1AAjA
7PE-B
CE05-2A10SL
7SE
MS3106A10S CE-10SLBA-S CE-10SLBS-S CE3057-4A-1
Electronics In-
dustry, Ltd.
1EAjA -3PC L-3S(D190)*1 *1 *1 *1 Daiichi Denshi
Kogyo K.K.
SGMG- 03AjB JL04V-2E20-1 JL04V-6A20-1 JL04-20EB JL04-20EB JL04-2022CK Japan Aviation

06AjB 5PE-B 5SE (14) Electronics In-
09AjB dustry, Ltd.
12AjB JL04V-2E24-1 JL04V-6A24-1 JL04-24EBL JL04-24EB JL04-2428CK Japan Aviation

20AjB 0PE-B 0SE (17) Electronics In-
30AjB dustry, Ltd.
44AjB JL04V-2E32-1 JL04V-6A32-1 *2 *2 *2 Japan Aviation

60AjB CE05-2A10SL MS3106A10S CE-10SLBA-S CE05-10SLBS-S CE3057-4A-1 dustry, Ltd.
-3PC L-3S(D190)*1 *1 *1 *1 Daiichi Denshi
Kogyo K.K.

* 1. Holding brakes are applicable to both L-shaped and straight types (manufactured by Daiichi Denshi Kogyo K.K.).
6 -206
Industry, Ltd.
Back Shell: Manufactured
by Daiichi Denshi Kogyo
K.K.
Angle Straight
(L-shaped)
M SGMD- 22AjA JL04V-2E24-1 JL04V-6A24-1 JL04-24EBL JL04-24EB JL04-2428CK Japan Aviation

o 32AjA 0PE-B 0SE (17) Electronics In-
t 40AjA dustry, Ltd.
o
r
s

* 1. Holding brakes are applicable to both L-shaped and straight types (manufactured by Daiichi Denshi Kogyo K.K.).
Note: 1. To ensure compliance with IP67, always use correct combinations of receptacles and plugs.
2. When flexible conduit is used, select plug only.
MS(D190) Series: Plug for Conduit

MS3106A20-29S (D190)
6
Gasket
H or less
Unit: mm (in)
Shell A +0
B−0.38 C¦0.5 D E¦0.3 +0.05 J¦0.12
Size (¦0.0197) (¦0.0118) (+0.0020) (¦0.0047)
(−0.0150) G −0.25
(−0.0098)
10SL 5/8-24UNEF-2B 22.22 (0.87) 23.3 (0.92) 9/16-24UNEF-2A 7.5 (0.30) 12.5 (0.49) 13.49 (0.53)
20 11/4-18UNEF-2B 37.28 (1.47) 34.11 (1.34) 11/18-18UNEF-2A 12.16 (0.48) 26.8 (1.06) 18.26 (0.72)
Made by Daiichi Denshi Kogyo K.K.
6 -207
6.6.3 Connector
CE02-XXBS-S
Straight Back Shell (for MS(D190))
Screw
Screw
V
O-Ring
(Portion Clamped by Wrench)
7.85 (0.31) or more

(Effective Screw Length)
Unit: mm (in)
Shell Part L A B C D V W
Size Number
18 CE02-18BS-S 31 (1.22) 30.5 10.5 16.3 26.7 1-20UNEF-2B 1-20UNEF-2A

(1.20) (0.41) (0.64) (1.05)
20 CE02-20BS-S 35 (1.38) 35 (1.38) 10.9 17.8 31.6 11/8-18UNEF-2B 13/16-18UNEF-2A

(0.41) (0.70) (1.24)

CE-XXBA-S (XXX)
Angle Back Shell (for MS(D190))
L1 or less
6 L2 or less
Screw A
O-Ring
W or more
Screw V
Unit: mm (in)
Part Shell Joint Screw Overall Overall Outside R V (S) Cable Clamp Effective
Number Size A Length Length of Diameter of Set Screw Screw
L1 Angle Body Coupling V Length
L2 C W
CE-10SLBA-S 10SL 9/16-24UNEF- 30.6 22.5 (0.89) 21.7 (0.85) 7.9 21 (28.9) 5/8-24UNEF- 7.5 (0.30)
2B (1.20) (0.31) (0.83) (1.14) 2A
CE-18BA-S 18 1-20UNEF-2B 44.6 34 (1.34) 32.4 (1.28) 13.2 30.2 (43.4) 1-20UNEF-2A 7.5 (0.30)
(1.76) (0.52) (1.19) (1.71)
CE-20BA-S 20 11/18UNEF-2 50.5 39.6 (1.56) 36 (1.42) 15 33.3 (48.3) 13/16-UNEF- 7.5 (0.30)
B (1.99) (0.59) (1.31) (1.90) 2A
6 -208
CE3057-XXA (for MS(D190))

Waterproof Cable Clamp (with Rubber Bushing)
(0.028)
(0.028)
Screw V
(0.028)
(Internal Diameter of Cable

Clamp)
H (Movable Range on One Side)
(Inside
Diameter of Bushing)
Unit: mm (in)
Part Shell Overall Outside Effective (D) E F G H Set Attached Cable Size
Number Size Length Diameter Screw Screw Bushing (for
A B Length V reference)
C
CE3057- 10SL 20.6 20.6 (0.81) 10.3 (0.41) 41.3 7.9 5.6 22.2 1.6 5/8-24UN CE3420-4 φ3.6 (0.14) to
4A-1 (0.81) (1.63) (0.31) (0.22) (0.87) (0.06) EF-2B -1 φ5.6 (0.22)
CE3057- 18 23.8 30.1 (1.19) 10.3 (0.41) 41.3 15.9 14.1 31.7 3.2 1-20UNEF CE3420- φ10.5 (0.41)
10A-1 (0.94) (1.63) (0.63) (0.56) (1.25) (0.13) -2B 10-1 to φ14.1
(0.56)
CE3057- 11.6 CE3420- φ8.5 (0.25) to 6

10A-2 (0.46) 10-2 φ11 (0.43)
CE3057- 8.7 CE3420- φ5.5 (0.22) to

10A-3 (0.34) 10-3 φ9.7 (0.38)
CE3057- 20 23.8 35 (1.38) 10.3 (0.41) 41.3 19 16 37.3 4 13/16-18U CE3420- φ12.5 (0.49)
12A-1 22 (0.94) (1.63) (0.75) (0.63) (1.47) (0.16) NEF-2B 12-1 to φ16 (0.63)
CE3057- 13 CE3420- φ9.5 (0.37) to

12A-2 (0.51) 12-2 φ13 (0.51)
CE3057- 10 CE3420- φ5.5 (0.22) to

12A-3 (0.38) 12-3 φ9.7 (0.38)
CE3057- 24 26.2 42.1 (1.66) 10.3 (0.41) 41.3 23.8 19.1 42.9 4.8 17/16-18U CE3420- φ15 (0.59) to
16A-1 28 (1.03) (1.63) (0.94) (0.75) (1.69) (0.19) NEF-2B 16-1 φ19.1 (0.75)
CE3057- 15.5 CE3420- φ13 (0.51) to

16A-2 (0.61) 16-2 φ15.5 (0.61)
6 -209
6.6.3 Connector
Plug: JL04-6A
Positioning Key Screw V
Screw A Conduit
(Conduit Mounting Dimensions)
Unit: mm (in)
Shell No. of Parts Name Joint Screw L¦0.4 M¦0.8 N¦0.2 Q¦0.8 Screw V W
Size Cores (0.0157) (0.0315) (0.0079) (0.0315) (max)
22 4 JL04-6A22-22S 13/8-18UNEF-2B 31.5 7.6 29.6 40.5 11/4-18UNEF-2A 8

(1.24) (0.30) (1.17) (1.59) (0.31)
24 7 JL04-6A24-10S 11/2-18UNEF-2B 35 5.9 32.8 43.7 13/8-18UNEF-2A 10

(1.38) (0.23) (1.29) (1.72) (0.39)
Made by Japan Aviation Electronics Industry, Ltd.

Plug: JL04V-6A
Screw V
Unit: mm (in)
Shell Screw V ΦA ΦB L E (max) G

Size
20 11/8-18UNEF-2A 37.3¦0.8 27¦0.2 31.5¦0.4 8 (0.32) −

(1.47¦0.0315) (1.06¦0.0079) (1.24¦0.0157)
32 17/8-16UN-2A 56.3¦0.8 45.4¦0.2 35.8¦0.4 10 (0.39) −

(22.2¦0.0315) (1.79¦0.0079) (1.41¦0.0157)
6 -210
End Bell (Straight): JL04-jjEB
Screw V
Plug End Bell
Unit: mm (in)
Shell Screw V ØA ØB L E (min)

Size
20 13/16-18UNEF-2A 37.3¦0.8 30.05¦0.2 67.9¦0.8 8 (032)

(1.47¦0.0315) (1.18¦0.0079) (2.67¦0.0315)
22 13/16-18UNEF-2A 40.5¦0.8 30.05¦0.2 67.63¦0.8 8 (0.32)

(1.59)(0.0315) (1.18)(0.0079) (2.66¦0.0315)
24 17/16-18UNEF-2A 43.7¦0.8 36.4¦0.2 71¦0.8 8 (0.32)

(1.72¦0.0315) (1.43¦0.0079) (2.80¦0.0315)

End Bell (L-shaped): JL04-jjEBL
Plug End Bell
6
Screw V
Unit: mm (in)
Shell Screw V ØA B C D E
Size
20 13/16-18UNEF-2A 37.3¦0.8 60.5¦0.8 74.2¦0.8 32¦0.8 10¦0.5

(1.47¦0.0315) (2.38¦0.0315) (2.92¦0.0315) (1.26¦0.0315) (0.39¦0.0197)
22 13/16-18UNEF-2A 40.5¦0.8 60.23¦0.8 73.93¦0.8 32¦0.8 10¦0.5

(1.59¦0.0315) (2.37¦0.0315) (2.91¦0.0315) (1.26¦0.0315) (0.39¦0.0197)
24 17/16-18UNEF-2A 43.7¦0.8 65¦0.8 82¦0.8 38¦0.8 10¦0.5

(1.72¦0.0315) (2.56¦0.0315) (3.23¦0.0315) (1.50¦0.0315) (0.39¦0.0197)
6 -211
6.6.3 Connector
Cable Clamp: JL04-jCK(::)
B (On the Rim)

Screw W
F (Clamped Range)
Unit: mm (in)
Parts A¦0.8 B¦0.8 C¦0.8 D¦0.8 ØE¦0.8 F Screw W Cable Size

Name/Size (¦0.0315) (¦0.0315) (¦0.0315) (¦0.0315) (¦0.0315)
JL04-2022CK(14) 37.3 34.9 24.3 53.8 15.9 4 (0.16) 13/16-18UNEF-2B Ø12.9 (0.51) to
(1.47) (1.37) (0.96) (2.11) (0.63) Ø15.9 (0.63)
JL04-2428CK(17) 42.9 42.1 26.2 56.2 18 (0.71) 4.8 (0.19) 17/16-18UNEF-2B Ø15 (0.59) to
(42.9) (1.66) (1.03) (2.21) Ø18 (0.71)
6 -212
J For the SGM and SGMP Models

Connector kit comprises three connectors as shown in the diagram below: one encoder connec-
tor at both the motor and SERVOPACK ends of the cable and a motor connector for the motor
end of the cable.
Encoder Connector for Motor End of Cable Encoder Connector for SERVOPACK End of Cable
Main Circuit (Power Line) Connector on Motor Side
Four models of connector kit are available according to the following criteria:
D Incremental encoder or absolute encoder

D Motor with or without a brake
A connector kit is required in the following cases:
D If motor cable only is purchased (whether or not motor has a brake).

6
D If the encoder cable with a motor connector only and SERVOPACK end without connector,
or encoder cable only is purchased (for either incremental or absolute encoder).
Encoder Cable Connectors

Select one of the following two types of encoder cable connector.
D For Incremental Encoders
(0.55)
(0.93)
14.0(0.55)
(0.63)
16
(0.16)
4.14
(0.16)
Cap: 172161-1
Socket: 170365-1
6 -213
6.6.3 Connector
D For Absolute Encoders
(0.88)
(0.93)
14.0(0.55)
4.2(0.17)
16(0.63)
(0.17)
Cap: 172163-1
Socket: 170361-1 or 170365-1
Motor Cable Connectors (Excluding SGMP-15A)

Select one of the following two types for motor cable connector.
D Motors Without Brakes
(0.39)
(0.93)
9.8(0.39)
11.8(0.46)
(0.16)
4.14
(0.16)
Cap: 172159-1
Socket: 170362-1 or 170366-1
D Motor With Brake

6 (0.55)
(0.93)
9.8(0.39)
4.2(0.17)
11.8(0.46)
(0.17)
Cap: 172160-1
Socket: 170362-1 or 170366-1
J For the SGMP-15A Model Only
The connector shape differs between motors with brakes.
D Motors without Brakes

(1.09)
(0.30)
15.7 (0.62) (1.08) Cap: 350780-1
Socket: 350536-6 or 350550-6
6 -214
D Motors with Brakes
(0.55)
20.3 (0.80)
(1.08)
(1.12)
Cap: 350781-1
Socket: 350536-6 or 350550-6
J Common to the SGMG, SGMS, SGMD, SGM and SGMP Models

Only one model of encoder connector is available for the SERVOPACK end of the cable.
D Connector
(0.10)
2.3(0.09)
(0.05)
5.1(0.20)
(0.26)
(0.11)
(0.76)
(0.50)
Pin #1
(0.36)
(0.30)
(0.05)
Pin # 11
Unit: mm (in)
Connector Model A B C
10120-3000VE 11.43 (0.45) 17.6 (0.69) 22.0 (0.87)
Manufactured by 3M.
6 -215
6.6.3 Connector
D Case
(0.94)
(0.22)
(0.5)
For 10320-52S0
Diagram of Assembled Connector (for reference)
Unit: mm (in)
Connector Model Case A B C D E F
DE9411290 10320-52S0-00S 22.0 33.3 14.0 12.0 10.0 27.4

(0.87) (1.31) (0.55) (0.47) (0.39) (1.08)
Manufactured by 3M.
6
6 -216
Connector Combinations
D For the SGM and SGMP Models
Connector combinations for the SGM and SGMP Servomotors are shown in the following
table. Combine these with the models selected in the previous section (pages 6 -213 to
6 -216).
Table 6.24 Connector Combinations for SGM and SGMP Servomotors
Connector Application Connector Kit Part List

Kit Model
Encoder/Motor For Encoder Cable For Motor Cable
Cable
Encoder End SERVOPACK End
Encoder Motor Cap Socket Connector Case Cap Socket

Type
yp Brake
With/
Model Qty Model Qty Model Qty Model Qty Model Qty Model Qty
Without
DP9420006- Incremental Without *1 1 *1 *3 *2 1 *2 1 *1 1 *1 *3

1 10
172161 170365 10120- 10320- 172159 170366 5
-1 -1 3000VE 52S0- -1 -1
00S
DP9420006- Incremental With *1 1 *3
2
172160 7
-1
DP9420006- Absolute Without *1 1 *3 *1 1 *3

3 16
172163 172159 5
-1 -1
DP9420006- Absolute With *1 1 *3

6
4
172160 7
-1
* 1. Manufactured by AMP.
* 2. Manufactured by 3M.
* 3. Including one spare.
6 -217
6.6.4 Brake Power Supply
D For SGMP-15A Model Only
Connector combinations for the SGMP-15A Servomotor are shown in the following table.
Table 6.25 Connector Combinations for SGMP-15A Servomotor
Connector Application Connector Kit Part List

Kit Model
Encoder/Motor Cable For Encoder Cable For Motor Cable
Encoder End SERVOPACK End
Encoder Motor Cap Socket Connector Case Cap Socket

Type
yp Brake
With/
Model Qty Model Qty Model Qty Model Qty Model Qty Model Qty
Without
DP9420016- Incremental Without *1 1 *1 *3 *2 1 *2 1 *1 1 *1 *3

1
172161 170365 10 10120- 10320- 350780 350550 5
-1 -1 3000VE 52S0- -1 -6
00S
DP9420016- Incremental With *1 1 *3
2
350781 7
-1
DP9420016- Absolute Without *1 1 *3 *1 1 *3

3
172163 16 350780 5
-1 -1
DP9420016- Absolute With *1 1 *3

4
350781 7
6 -1
* 1. Manufactured by AMP.
* 2. Manufactured by 3M.
* 3. Including one spare.
6.6.4 Brake Power Supply
Brake power supplies are available for 200 V and 100 V input. Use for Servomotor with brake.
200 VAC Input: LPSE-2H01

100 VAC Input: LPDE-1H01
6 -218
J Dimensional Drawings
(1.97)
(1.18)
Manufactured by Yaskawa Controls Co., Ltd.
2-φ3(2-φ0.12) MTG Holes

(Spot Facing φ5.5
(φ0.22), 4 (0.16) LONG) (0.98)
(0.79)
Name
Plate
Lead Wires
J Specifications
D Lead Wire Length: 500 mm each (19.69 in.)

D Max. Ambient Temperature: 60_C
AC Input Brake
100V 200V
Blue/White Yellow/White Red/Black
J Internal Circuit
6
The internal circuits are shown below. While it is possible to switch either the AC or DC side
of the brake power supply, it is normally safer to switch the AC side.
IMPORTANT If the DC side is to be switched, install a surge suppressor near the brake coil to prevent the surge voltages due
to switching the DC side damaging the brake coil.
Brake operation time delay occurs during brake power supply ON/OFF operation. Set output timing of servo
OFF operation (motor output stop), referring to 3.14.2 Holding Brake. Especially, if the AC side of the brake
power supply is to be switched, brake operation time is extended.
D Internal Circuit for 200 VAC Input (LPSE-2H01)
Yellow Red
Surge
AC Side Sup- DC (Brake) Side
Diode
pressor
White Black
6 -219
6.6.5 Encoder Cables
D Internal Circuit for 100 VAC Input (LPDE-1H01)
Diode Bridge
Blue Red
AC Side DC (Brake) Side
Surge
Surge Suppressor Suppressor
White Black
Encoder cables are used to connect encoders on servomotors to SERVOPACKs.
The dimensions and appearance of the encoder cables are shown below. Specify the cable mod-
el when ordering.
J For the SGMG, SGMS and SGMD Models
Cables for Incremental Encoders (with Straight Plugs)
UL Shield Wire, Composite

KQVV-SW
B9400064
(AWG22 × 3C, AWG26 × 4P)
Shell: 54331-0201 (manufactured MS3108B20-29S (manufactured by Daiichi Denshi Kogyo K.K.)
by Molex Japan Co., Ltd.) MS3057-12A Cable Clamp
Plug: 54306-2011
Cable Model L in mm (feet)
JZSP-CBP0S-01 + 100 + 0.33

3000 0 (10 0 )
JZSP-CBP0S-02 + 100 + 0.33

5000 0 (16.7 0 )
JZSP-CBP0S-03 + 500 + 1.67

10000 0 (33.3 0 )
JZSP-CBP0S-04 + 500 + 1.67

15000 0 (50 0 )
JZSP-CBP0S-05 + 500 + 1.67

20000 0 (66.7 0 )
6 -220
Cables for Incremental Encoders (with L-shaped Plugs)

KQVV-SW MS3108B20-29S (manufactured by Daiichi Denshi Kogyo K.K.)
B9400064 MS3057-12A Cable Clamp
(AWG22 × 3C, AWG26 × 4P)
Shell: 54331-0201 (Manufactured by Molex Japan Co., Ltd.)
Plug: 54306-2011
JZSP-CBP0L-01 + 100 + 0.33

3000 0 (10 0 )
JZSP-CBP0L-02 + 100 + 0.33

5000 0 (16.7 0 )
JZSP-CBP0L-03 + 500 + 1.67

10000 0 (33.3 0 )
JZSP-CBP0L-04 + 500 + 1.67

15000 0 (50 0 )
JZSP-CBP0L-05 + 500 + 1.67

20000 0 (66.7 0 )
Cables for Incremental Encoders (without Connector on Encoder

End)
+ 0.39
6
(3.94 –0 )

KQVV-SW
B9400064 Encoder End
(AWG22 × 3C, AWG26 × 4P)
SERVOPACK End
Wire Markers
Shell: 10320-52S0-00S (Manufactured by 3M.)
Plug: 10120-3000VE
DE9411276-1 + 100 + 0.33

3000 0 (10 0 )
DE9411276-2 + 100 + 0.33

5000 0 (16.7 0 )
DE9411276-3 + 500 + 1.67

10000 0 (33.3 0 )
DE9411276-4 + 500 + 1.67

15000 0 (50 0 )
DE9411276-5 + 500 + 1.67

20000 0 (66.7 0 )
6 -221
Connector
Straight Plug: MS3106B20-29S * Case: 10320-52S0-00S (Manufactured by 3M.)
Connector: 10120-3000VE (Manufactured by 3M.)
Cable Clamp: MS3057-12A
Encoder End SERVOPACK

End
Connector
case
P: shielded twisted-pair cables.
* Purchase cases and connectors separately. Refer to 6.6.3 Connector for details.
Cables for Absolute Encoders (with Straight Plugs)

KQVV-SW
DP8409123
(AWG22 × 3C, AWG26 × 6P)
MS3106B20-29S (manufactured by Daiichi Denshi Kogyo K.K.)
Shell: 54331-0201 (Manufactured by Molex Japan Co., Ltd.) MS3057-12A Cable Clamp
Plug: 54306-2011
6 JZSP-CBP1S-01
3000
+ 100
0 (10
+ 0.33
0 )
JZSP-CBP1S-02 + 100 + 0.33

5000 0 (16.7 0 )
JZSP-CBP1S-03 + 500 + 1.67

10000 0 (33.3 0 )
JZSP-CBP1S-04 + 500 + 1.67

15000 0 (50 0 )
JZSP-CBP1S-05 + 500 + 1.67

20000 0 (66.7 0 )
Cables for Absolute Encoders (with L-shaped Plugs)

KQVV-SW
DP8409123
(AWG22 × 3C, AWG26 × 6P)
Shell: 54331-0201 (Manufactured by
Molex Japan Co., Ltd.) MS3108B20-29S (manufactured by Daiichi Denshi Kogyo K.K.)
Plug: 54306-2011 MS3057-12A Cable Clamp
6 -222
JZSP-CBP1L-01 + 100 + 0.33

3000 0 (10 0 )
JZSP-CBP1L-02 + 100 + 0.33

5000 0 (16.7 0 )
JZSP-CBP1L-03 + 500 + 1.67

10000 0 (33.3 0 )
JZSP-CBP1L-04 + 500 + 1.67

15000 0 (50 0 )
JZSP-CBP1L-05 + 500 + 1.67

20000 0 (66.7 0 )
Cables for Absolute Encoders (without Connector on Encoder

End)
+ 0.39
(3.94 –0 )

KQVV-SW
DP8409123 Wire Markers
(AWG22 × 3C, AWG26 × 6P)
Shell: 10320-52S0-00S (Manufactured by 3M.)
Plug: 10120-3000VE
Cable Model L in mm (feet) 6

DE9411277-1 + 100 + 0.33
3000 0 (10 0 )
DE9411277-2 + 100 + 0.33

5000 0 (16.7 0 )
DE9411277-3 + 500 + 1.67

10000 0 (33.3 0 )
DE9411277-4 + 500 + 1.67

15000 0 (50 0 )
DE9411277-5 + 500 + 1.67

20000 0 (66.7 0 )
6 -223
Connector
Straight Plug: MS3106B20-29S * Case: 10320-52S0-00S (Manufactured by 3M.)
Cable Clamp: MS3057-12A Connector: 10120-3000VE (Manufactured by 3M.)
0.12mm2

End
(2CN)
Connector
case
Cables for Incremental Encoders (Cable Only)

Cable AWG22 × 3C, AWG26 × 4P
B9400064-1 + 100 + 0.33

3000 0 (10 0 )
6 B9400064-2
5000
+ 100
0 (16.7
+ 0.33
0 )
B9400064-3 + 500 + 1.67

10000 0 (33.3 0 )
B9400064-4 + 500 + 1.67

15000 0 (50 0 )
B9400064-5 + 500 + 1.67

20000 0 (66.7 0 )
Connector
Straight Plug: MS3106B20-29S * Case: 10320-52S0-00S (Manufactured by 3M.) *
0.12mm2

End
(2CN)
Connector
case

* Purchase plugs, cable clamps, cases, and connectors separately. Refer to 6.6.3 Connector for
details.
6 -224
Cables for Absolute Encoders (Cable Only)

DP8409123-1 + 100 + 0.33

3000 0 (10 0 )
DP8409123-2 + 100 + 0.33

5000 0 (16.7 0 )
DP8409123-3 + 500 + 1.67

10000 0 (33.3 0 )
DP8409123-4 + 500 + 1.67

15000 0 (50 0 )
DP8409123-5 + 500 + 1.67

20000 0 (66.7 0 )
Connector
Straight Plug: MS3106B20-29S * Case: 10320-52S0-00S (Manufactured by 3M.) *
0.12mm2
Encoder End SERVOPACK 6

End
(2CN)
Connector
case
* Purchase plugs, cable clamps, cases, and connectors separately. Refer to 6.6.3 Connector for
details.
J For the SGM and SGMP
Cables for Incremental Encoders (Connectors Both Ends)

SERVOPACK End of Cable
Connector for Encoder End of Cable
Case: 54331-0201
Cap: 172161-1 (9-pin)
Cable B9400064 Connector: 54306-2011
Socket: 170361-1 or 170365-1 Heat
Shrink Tube
(1.38)
6 -225
JZSP-CAP00-01 + 100 + 0.33

3000 0 (10 0 )
JZSP-CAP00-02 + 100 + 0.33

5000 0 (16.7 0 )
JZSP-CAP00-03 + 500 + 1.67

10000 0 (33.3 0 )
JZSP-CAP00-04 + 500 + 1.67

15000 0 (50 0 )
JZSP-CAP00-05 + 500 + 1.67

20000 0 (66.7 0 )
Cables for Absolute Encoders (Connectors on Both Ends)

SERVOPACK End of Cable
Connector for Encoder End of Cable Case: 54331-0201
Cable DP8409123
Cap: 172163-1 (15-pin) Connector: 54306-2011
Heat
Socket: 170361-1 or 170365-1 Shrink Tube
(1.38)
6 Cable Model L in mm (feet)
JZSP-CAP10-01 + 100 + 0.33

3000 0 (10 0 )
JZSP-CAP10-02 + 100 + 0.33

5000 0 y (16.7 0 )
JZSP-CAP10-03 + 500 + 1.67

10000 0 (33.3 0 )
JZSP-CAP10-04 + 500 + 1.67

15000 0 (50 0 )
JZSP-CAP10-05 + 500 + 1.67

20000 0 (66.7 0 )
6 -226
Cables for Incremental Encoders (without Connector on

SERVOPACK End)
Cable B9400064 Wire Markers
(AWG22 × 3C, AWG26 × 4P)
Cap: 172161-1 (9-pin) Wires

Heat Heat
Socket: 170361-1 Shrink Tube Shrink Tube
(connected)
SERVOPACK
End
Encoder End
(1.38) (0.79)
(2.36)
DP9320086-1 + 100 + 0.33

3000 0 (10 0 )
DP9320086-2 + 100 + 0.33

5000 0 (16.7 0 )
DP9320086-3 + 500 + 1.67

10000 0 (33.3 0 )
DP9320086-4 + 500 + 1.67

15000 0 (50 0 )
DP9320086-5 + 500 + 1.67

20000 0 (66.7 0 )
6
Case: 10320-52S0-00S (Manufactured by 3M.) *
Cap: 172161-1
Socket: 170361-1
Blue
White/Blue
Yellow
White/Yellow SERVOPACK
Green
Encoder End White/Green End
Red
Black
0.32
Connector
case
Green/Yellow

6 -227
Cables for Absolute Encoders (without Connector on

SERVOPACK End)
Wire Markers
Cable DP8409123
Cap: 172163-1 (15-pin) (AWG22 × 3C, AWG26 × 6P) Wires
Socket: 170361-1 (connected) Heat Heat
Shrink Tube Shrink Tube

End
(1.38)
(0.79)
(2.36)
DP9320085-1 + 100 + 0.33

3000 0 (10 0 )
DP9320085-2 + 100 + 0.33

5000 0 (16.7 0 )
DP9320085-3 + 500 + 1.67

10000 0 (33.3 0 )
DP9320085-4 + 500 + 1.67

15000 0 (50 0 )
DP9320085-5 + 500 + 1.67

20000 0 (66.7 0 )
6 *
Case: 10320-52S0-00S (Manufactured by 3M.)
Cap: 172163-1
Socket: 170365-1
Blue
White/Blue
Yellow
White/Yellow
Green
White/Green
Purple
White/Purple
Encoder End Red SERVOPACK
Black End
0.32mm2
White/Grey
Orange
White/Orange
Green/Yellow Connector
case
0.32mm2
6 -228
Cables for Incremental Encoders (Cable Only)

B9400064-1 + 100 + 0.33

3000 0 (10 0 )
B9400064-2 + 100 + 0.33

5000 0 (16.7 0 )
B9400064-3 + 500 + 1.67

10000 0 (33.3 0 )
B9400064-4 + 500 + 1.67

15000 0 (50 0 )
B9400064-5 + 500 + 1.67

20000 0 (66.7 0 )
Cap: 172161-1 (Manufactured by AMP.) * Case: 10320-52S0-00S (Manufactured by 3M.)

*
Socket: 170361-1 or 170365-1 Connector: 10120-3000VE (Manufactured by 3M.)
(Manufactured by AMP.)
Connector
Blue
White/Blue
Yellow
6
White/Yellow
Green
White/Green
8 Red
Black SERVOPACK
Encoder End 7
End
0.32mm2
Connector
Green/Yellow case

* Purchase caps, sockets, cases, and connectors separately. Refer to 6.6.3 Connector for details.
Cables for Absolute Encoders (Cable Only)

DP8409123-1 + 100 + 0.33

3000 0 (10 0 )
DP8409123-2 + 100 + 0.33

5000 0 (16.7 0 )
DP8409123-3 + 500 + 1.67

10000 0 (33.3 0 )
6 -229
DP8409123-4 + 500 + 1.67

15000 0 (50 0 )
DP8409123-5 + 500 + 1.67

20000 0 (66.7 0 )
* Case: 10320-52S0-00S (Manufactured by 3M.)

*
Cap: 172163-1
Socket: 170361-1 or 170365-1 Connector: 10120-3000VE (Manufactured by 3M.)
Blue
White/Blue
Yellow
White/Yellow
Green
White/Green
Purple
White/Purple SERVOPACK End
Encoder End Red
Black
0.32mm2
White/Grey
Orange
White/Orange
Green/Yellow Connector
case
0.32mm2
* Purchase caps, sockets, cases, and connectors separately. Refer to 6.6.3 Connector for details.
6 J Specifications of Other Encoder Cables

Details of other encoder cables are summarized in the following table. These cables are not
supplied as accessories with a SERVOPACK or Servomotor. Purchase in standard specified
lengths as required.
Table 6.26 Specifications of Other Encoder Cables
Cable Incremental Encoder Absolute Encoder

Specifications (Yaskawa Drg. #B9400064) (Yaskawa Drg. #DP8409123)
Basic Compound KQVV-SW Compound KQVV-SW

Specifications AWG22 × 3C, AWG26 × 6P
AWG22 × 3C, AWG26 × 4P
Finished Ø7.5 mm (Ø0.30) Ø8.0 mm (Ø0.31)

Dimension
6 -230
Cable Incremental Encoder Absolute Encoder

Specifications (Yaskawa Drg. #B9400064) (Yaskawa Drg. #DP8409123)
Internal Structure
and Lead Colors
A1 Red A1 Red
A2 Black A2 Black
A3 Green/Yellow A3 Green/Yellow
F1 Blue - White/Blue B1 Blue - White/Blue
(Twisted-pair) (Twisted-pair)
F2 Yellow - White/Yellow B2 Yellow - White/Yellow
F3 Green - White/Green B3 Green - White/Green
F4 Orange - White/Orange B4 Orange - White/Orange
B5 Purple - White/Purple
(Twisted-pair)
B6 Grey - White/Grey
(Twisted-pair)
Yaskawa standard Standard lengths:

specifications 3 m (9.8) , 5 m (16.4) , 10 m (32.8), 15 m (49.2), 20 m (65.6) *
* When appropriate cable is used, the allowable wiring distance between SERVOPACK and Ser-
vomotor (PG) is 20 m (65.6) max.
6.6.6 Back-up Battery 6

The SGDB-AM SERVOPACK requires a back-up battery. This battery is used to back up vari-
ous set memories and absolute encoders, and has a life of approximately 10 years. (This may
vary according to service conditions.)
The battery is manufactured by Toshiba Battery Co., Ltd., and Yaskawa supplies a battery
fitted with a connector. (One battery is supplied with each purchase of an SGDB-AM SERVO-
PACK.)
D Lithium Battery: ER6VLY + DF3 Connector

D Nominal Voltage: 3.6 V
D Standard Capacity: 2000 mAh
6 -231
6.6.7 1CN and 6CN Connectors
6.6.7 1CN and 6CN Connectors
1CN and 6CN connectors are used to connect a host controller to the SERVOPACK. They each
consist of a connector and a case.
The dimensional diagrams and models are shown below.
J Connector Models
Connector Application Connector Part List

Model
Connector Case
Model Qty Model Qty
JZSP-VAI09 I/O Connector for 10136-3000VE* 1 10336-52S0-00S* 1 Set

1CN
DE9411289 I/O Connector for 10150-3000VE* 1 10350-52S0-00S* 1 Set

6CN
* Manufactured by 3M.
J Dimensional Diagram
D Connector
6 2.54(0.10)
1.27(0.05)
2.3(0.09)
5.1(0.20)
(0.26)
(0.11)
(0.76)
(0.50)
Pin #1
(0.36)
(0.30)
(0.05)
Pin # 11
6 -232
Unit: mm (in)
Connector Model A B C
10136-3000VE 21.59 (0.85) 27.8 (1.09) 32.2 (1.27)
10150-3000VE 30.48 (1.20) 36.7 (1.44) 41.1 (1.62)
Manufactured by 3M.
D Case
39.0 (1.54)
(0.94)
(0.22)
(0.5)
For -52A0
Diagram of Assembled Connector (for reference) 6

Unit: mm (in)
Connector Model Case Model A B C D E F
10136-3000VE 10336-52S0-00S 32.2 43.5 18.0 17.0 14.0 37.6

(1.27) (1.71) (0.71) (0.67) (0.55) (1.48)
10150-3000VE 10350-52S0-00S 41.1 52.4 18.0 17.0 14.0 46.5

(1.62) (2.06) (0.71) (0.67) (0.55) (1.83)
Manufactured by 3M.
6 -233
6.6.8 Connector-Terminal Block Conversion Unit
The connector-terminal block conversion unit comprises a cable with connectors and a termi-
nal block. The terminal numbers of the terminal block match the connector pin numbers of the
connector for the SERVOPACK side.
Connector-Terminal Block Conversion Unit is provided for both 1CN and 6CN.
Connector-Terminal
Block Conversion Unit
Model: JUSP-TA50P
SERVOPACK
Cable Length: Connector-Terminal

+ 50 Block Conversion Unit
500 − 0 mm Model: JUSP-TA36Z
+ 1.97
19.69 –0 in
50-Pin Connector Plug

MR-50RMD2 40-Pin Connector Plug
50-Pin Terminal Block, FCN-364P040-AU
M3.5 Screws 40-Pin Terminal
Block, M3.5 Screws
6
Figure 6.8 Connector-Terminal Block Conversion Unit Connected to SERVOPACK
J 1CN Terminal Block Pin Numbers and Signal Names

The 1CN terminal block pin numbers and their corresponding signal names are shown in the
following table.
6 -234
SGDB-AM SERVOPACK JUSP-TA36Z Terminal Block Unit
Signal 1CN Pin Connector Terminal

Name No. No. Block No.
− 1 A1 1
SG 2 B1 2
PULS 3 A2 3
P
/PULS 4 B2 4
SG 5 A3 5
SIGN 6 B3 6
P
/SIGN 7 A4 7
− 8 B4 8
/CC 9 A5 9
P
CC 10 B5 10
TMON 11 A6 11
VTG 12 B6 12
− 13 A7 13
PCO 14 B7 14
P
/PCO 15 A8 15
/BK+ 16 B8 16
P
/BK− 17 A9 17
/TGON+ 18 B9 18
P
/TGON− 19 A10 19
/S-RDY+ 20 B10 20
P
/S-RDY− 21 A11 21
ALM+ 22 B11 22
ALM− 23
P
A12 23 6
PAO 24 B12 24
P
/PAO 25 A13 25
PBO 26 B13 26
P
/PBO 27 A14 27
/S-ON 28 B14 28
/P-CON 29 A15 29
P-OT 30 B15 30
N-OT 31 A16 31
STP 32 B16 32
/P-CL 33 A17 33
/N-CL 34 B17 34
+24 V 35 A18 35
− 36 B18 36
Connector Case A19 37
Cable: Supplied with terminal block B19 38

A20 39
P: Shielded Twisted-pair
cables. B20 40
Figure 6.9 1CN Terminal Block Pin Numbers and Signal Names
6 -235
J 6CN Terminal Block Pin Numbers and Signal Names

The 6CN signal names differ according to the setting of Cn-27.
The 6CN terminal block pin numbers and their corresponding signal names when Cn-27 = 0
are shown in the following table.
(When station number command method is used.)
6 -236
SGDB-AM SERVOPACK JUSP-TA50P Terminal Block Unit

0V1 1 A1 1
/AUT-LT 2 B1 2
/MAN-LT 3 A2 3
/POS1 4 B2 4
/POS2 5 A3 5
/AL0 6 B3 6
/AL1 7 A4 7
/AL2 8 B4 8
/AL3 9 A5 9
− 10 B5 10
− 11 A6 11
− 12 B6 12
/ZRN 13 A7 13
/MAN 14 B7 14
/PULS 15 A8 15
/MCW 16 B8 16
/MCCW 17 A9 17
/RST 18 B9 18
/SP2ND 19 A10 19
/SP3RD 20 B10 20
/LPG 21 A11 21
/AST 22 B11 22
/ALMRST 23 A12 23
STOP 24 B12 24
+24VI 25 A13 25
0V2 26 B13 26
/ERR 27 A14 27
/P0 28 B14 28
/P1 29 A15 29
/P2 30 B15 30
/P3
/P4
31
32
A16
B16
31
32
6
/CD0 33 A17 33
/CD1 34 B17 34
/CD2 35 A18 35
/CD3 36 B18 36
/CD4 37 A19 37
/CD5 38 B19 38
/CD6 39 A20 39
/CD7 40 B20 40
/CD8 41 A21 41
/CD9 42 B21 42
/CD10 43 A22 43
/CD11 44 B22 44
/DR0 45 A23 45
/DR1 46 B23 46
/PS0 47 A24 47
/PS1 48 B24 48
+24V2 49 A25 49
− 50 B25 50
Connector Case
Cable: Supplied with terminal block
Figure 6.10 6CN Terminal Block Pin Numbers and Signal Names when Cn-27 = 0
6 -237
The 6CN terminal block pin numbers and their corresponding signal names when Cn-27=1 are
shown in the following table.
(When digital switch command method is used.)

0V1 1 A1 1
/AUT-LT 2 B1 2
/MAN-LT 3 A2 3
/POS1 4 B2 4
/POS2 5 A3 5
/AL0 6 B3 6
/AL1 7 A4 7
/AL2 8 B4 8
/AL3 9 A5 9
− 10 B5 10
− 11 A6 11
− 12 B6 12
/ZRN 13 A7 13
/MAN 14 B7 14
/PULS 15 A8 15
/MCW 16 B8 16
/MCCW 17 A9 17
/RST 18 B9 18
/SP2ND 19 A10 19
/SP3RD 20 B10 20
/LPG 21 A11 21
/AST 22 B11 22
/ALMRST 23 A12 23
STOP 24 B12 24
+24VI 25 A13 25
6 0V2
/ERR
26
27
B13
A14
26
27
/DSO0 28 B14 28
/DSO1 29 A15 29
/DSO2 30 B15 30
/DSO3 31 A16 31
/DSO4 32 B16 32
/DSI10 33 A17 33
/DSI11 34 B17 34
/DSI12 35 A18 35
/DSI13 36 B18 36
/DSI14 37 A19 37
/DSI15 38 B19 38
/DSI16 39 A20 39
/DSI17 40 B20 40
/DSI20 41 A21 41
/DSI21 42 B21 42
/DSI22 43 A22 43
/DSI23 44 B22 44
/DSI24 45 A23 45
/DSI25 46 B23 46
/DSI26 47 A24 47
/DSI27 48 B24 48
+24V2 49 A25 49
− 50 B25 50
Connector Case
Figure 6.11 6CN Terminal Block Pin Numbers and Signal Names when Cn-27=1
6 -238
The 6CN terminal block pin numbers and their corresponding signal names when Cn-27=4 are
shown in the following table.
(When command table method is used.)

0V1 1 A1 1
/AUT-LT 2 B1 2
/MAN-LT 3 A2 3
/POS1 4 B2 4
/POS2 5 A3 5
/AL0 6 B3 6
/AL1 7 A4 7
/AL2 8 B4 8
/AL3 9 A5 9
− 10 B5 10
− 11 A6 11
− 12 B6 12
/ZRN 13 A7 13
/MAN 14 B7 14
/PULS 15 A8 15
/MCW 16 B8 16
/MCCW 17 A9 17
/RST 18 B9 18
/SP2ND 19 A10 19
/SP3RD 20 B10 20
/LPG 21 A11 21
/AST 22 B11 22
/ALMRST 23 A12 23
STOP 24 B12 24
+24VI 25 A13 25
0V2
/ERR
26
27
B13
A14
26
27
6
/P0 28 B14 28
/P1 29 A15 29
/P2 30 B15 30
/P3 31 A16 31
/P4 32 B16 32
/CD0 33 A17 33
/CD1 34 B17 34
/CD2 35 A18 35
/CD3 36 B18 36
/CD4 37 A19 37
/CD5 38 B19 38
/CD6 39 A20 39
/CD7 40 B20 40
/CD8 41 A21 41
− 42 B21 42
− 43 A22 43
− 44 B22 44
− 45 A23 45
− 46 B23 46
/PS0 47 A24 47
/PS1 48 B24 48
+24V2 49 A25 49
− 50 B25 50
Connector Case
Figure 6.12 6CN Terminal Block Pin Numbers and Signal Names when Cn-27 = 4
6 -239
6.6.9 Cable with 1CN Connector and One End without Connector
This cable has no connector at the host controller end. The loose wires have attached labels
that indicate the terminal numbers.
Sleeve F2 (Black) SGDB SERVOPACK (3M36P Connector)

Cable (Black)
36-Pin Connector at SERVOPACK End SSRFPVV-SB AWG#28 × 18P
10136-3000VE (Manufactured by 3M) UL20276 VW-1SC
Terminal Number Label
Shell
10336-52S0-00S
40
Case Shield
Connector Unit P Shielded
twisted-pair
6 Details of Lead cables
Cable Length
Cable Model L in mm
JZSP-VB114-01 + 30
1000 –30
JZSP-VB114-02 + 50
2000 –50
JZSP-VB114-03 + 50
3000 –50
JZSP-VB114-05 + 50
5000 –50
6 -240
This cable has no connector at the host controller end. The loose wires have attached labels
that indicate the terminal numbers.
SGDB SERVOPACK (3M50P Connector)

Sleeve F2 (Black)
Cable (Black)
50-Pin Connector at SERVOPACK End SSRFPVV-SB AWG#28 × 25P
10150-3000VE (Manufactured by 3M) UL20276 VW-1SC
Marker Tube
Φ2.8
Shell
10350-52S0-00S
Case
Shield P Shielded
Connector Unit twisted-pair
cable
Details of Lead
Cable Length
Cable Model L in mm
DE9411288-1 + 30
1000 0
DE9411288-2 + 50
2000 0
DE9411288-3 + 50
3000 0
6 -241
6.6.12 Noise Filter
6.6.11 Circuit Breaker
Use a molded-case circuit breaker (MCCB) to protect the power lines. The customer should
purchase MCCB of appropriate capacity.
D Recommended Product
Ground fault detector for motor protection manufactured by
Mitsubishi Electric Co. Ltd.
Model: MN50-CF
6.6.12 Noise Filter
A noise filter is installed to prevent external noise entering through the power supply line. Se-
lect a noise filter from the following three models according to the SERVOPACK capacity.
J Dimensional Diagram
6
D LF-300 (Three-phase 200 VAC Class)
(Ø0.18) (LF-310 to 330)

(Ø0.26) (LF-340 to 360)
to
IN
Rating
Plate
Unit: mm (in)
Part A B C D E F G H I J
Name
LF-310 180 (7.09) 170 (6.69) 60 (2.36) 25 (0.98) 120 (4.72) 135 (5.31) 150 (5.91) 35 (1.38) 65 (2.56) 4.5(0.18)
¢7
LF-315 180 (7.09) 170 (6.69) 60 (2.36) 25 (0.98) 120 (4.72) 135 (5.31) 150 (5.91) 35 (1.38) 65 (2.56) 4.5(0.18)
¢7
LF-320 180 (7.09) 170 (6.69) 60 (2.36) 29 (1.14) 120 (4.72) 135 (5.31) 150 (5.91) 35 (1.38) 65 (2.56) 4.5(0.18)
¢7
6 -242
Part A B C D E F G H I J
Name
LF-330 180 (7.09) 170 (6.69) 60 (2.36) 29 (1.14) 120 (4.72) 135 (5.31) 150 (5.91) 35 (1.38) 65 (2.56) 4.5(0.18)
¢7
LF-340 180 (7.09) 160 (6.30) 50 (1.97) 30 (1.18) 200 (7.87) 220 (8.66) 240 (9.45) 40 (1.57) 80 (3.15) 6.5(0.26)
¢9
LF-350 180 (7.09) 160 (6.30) 50 (1.97) 30 (1.18) 200 (7.87) 220 (8.66) 240 (9.45) 40 (1.57) 80 (3.15) 6.5(0.26)
¢9
LF-360 200 (7.87) 180 (7.09) 60 (2.36) 30 (1.18) 300 320 340 40 (1.57) 100 (3.93) 6.5(0.26)
(11.81) (12.60) (13.39) ¢9
D LF-K (Three-phase 200 VAC Class)
Unit: mm (in)
Parts Name Terminal Block A B C D E F G H
LF-380K TE-K22 M6 670 400 560 380 500 170 9¢Ø6.5 Ø6.5
(26.38) (15.75) (22.05) (14.96) (19.69) (6.69) (0.26) (0.26)
D FN258-100 (Three-phase 200 VAC Class) 6

D C
F
E
G
A
M10
H
Unit: mm (in)
Parts Name A B C D E F G H
FN-258-100 379±1.5 220 90±8 350±1.2 364 65 6.5 1.5

(14.92±0.059) (8.66) (3.54±0.31) (13.78±0.047) (14.33) (2.56) (0.26) (0.059)
6 -243
6.6.13 Magnetic Contactor
6.6.13 Magnetic Contactor
The magnetic contactor turns ON and OFF the SERVOPACK power supply. The magnetic con-
tactor must be used with a surge suppressor.
Select an appropriate magnetic contactor according to the SGDB SERVOPACK capacity. For
multiple servo systems, select a magnetic contactor that meets the total capacity.
The outside dimensions and terminal symbols of magnetic contactors are shown in the follow-
ing table.
Table 6.27 Outside Dimensions and Terminal Symbols of Magnetic Contactor

Unit: mm (in)
Model Outside Dimensions Mounting Holes Terminal Symbols
HI-15E5 2 × M4 Mounting Holes M4 Auxiliary Contact Terminals

90 (3.54) or more
2 × M4
Mounting Holes
M4 Coil Terminals
Slider
Main Contact Terminals Approx. Mass
0.33 kg (0.73 lb)
6 HI-18E 2 × M4 Mounting Holes M4 Auxiliary Contact Terminals

92 (3.62) or more
2 × M4
Mounting Holes
M4 Coil Terminals
Main Contact Terminals
Approx. Mass
0.45 kg (0.99 lb)
HI-20E M4 Auxiliary Contact Terminals M4 Coil Terminals

106 (4.17) or more
2 × M4
Mounting Holes
1
Main Contact Terminals
2 × M4 Mounting Holes
Approx. Mass
0.7 kg (1.54 lb)
6 -244
Model Outside Dimensions Mounting Holes Terminal Symbols
HI-25E M4 Auxiliary Contact Terminals M4 Coil Terminals

115 (4.53) or more
2 × M4
Mounting Holes
2 × M4
Mounting Holes
M5 Main Contact Terminals
Approx. Mass
0.75 kg (1.65 lb)
HI-30E 2 × M4
Mounting Holes M5 Main Contact Terminals
M4 Coil Terminals M4 Auxiliary Contact Terminals
104 (4.09) or more
2 × M4
Mounting Holes
(Use the two places
of the same direction)
Approx. Mass
0.78 kg (1.71 lb)
HI-35E 2 × M4
Mounting Holes
M4 Auxiliary Contact Terminals
M4 Coil Terminals
118 (4.65) or more
6
2 × M4
Mounting Holes
(Use the two places
M5 Main Contact Terminals of the same direction)
Approx. Mass
1.2 kg (2.64 lb)
HI-50E M4 Coil Terminals 4 × M5

M3.5 Auxiliary Contact Terminals 119 (4.65) or more (3.23) Mounting Holes
(0.55)
(1.61)
(1.61)
(4.1)
(5.31)
(3.23)
(2.68)
(2.09)
(2.09)
(0.85) (Connection of Coin terminals

b to a: 60 Hz terminal
(0.08) (2.72) (Screw two diagonal
(1.18) (4.37) b to c: 50 Hz terminal
4 × M5 places or three places.)
(3.82) Mounting M6 Main Contact
Holes Terminals
Approx. Mass
1.3 kg (2.87 lb)
6 -245
6.6.15 Regenerative Resistor Unit
6.6.14 Surge Suppressor
Attach a surge suppressor to the magnetic contactor to prevent power supply noise and protect
contacts.
D Recommended Product
Spark Killer manufactured by Okaya Electric Industries

Co., Ltd.
Model: CR50500BL (250 VAC)
Capacitance: 0.5 μF  20%
Resistance: 50 Ω (1/2 W) 30%
6.6.15 Regenerative Resistor Unit
For SERVOPACKs for use with motors with 3.2 kW or more (SGDB-50AM/60AM/75AM/1AAM/
1EAM), externally attach a regenerative resistor to the SERVOPACK. This resistor is used for dis-
sipating regenerative energy.
Use one of the following regenerative resistor units according to the SERVOPACK model:
SERVOPACK Model Regenerative Resistor Unit Model

SGDB-
50AM JUSP-RA04
6 60AM
75AM JUSP-RA05
1AAM
1EAM
6 -246
(4-Ø0.24) Protective Cover

Mounting Hole
Terminal Numbers
Ground
Terminal
External (M4 Screw)
Terminal
(M5 Screw)
220W, 25Ω Cement Resistor

(4 or 8 Resistors Connected in Parallel)
(1.18)
Unit: mm (in)
Model W H D M1 M2 Approx.
mass
JUSP-RA04 220
(8.66)
350
(13.78)
92
(3.62)
180
(7.09)
335
(13.19)
4 kg
(8.82 lb)
6
JUSP-RA05 300 350 95 250 335 7 kg
(11.81) (13.78) (3.74) (9.84) (13.19) (15.43 lb)
6.6.16 External Position Indicator (Model MCIF-L8)
J Specifications
Model MCIF-L8
Item
Power Supply 5 VDC, 1A
Power Fluctuation Range 4.75 to 5.25 V
Operating Temperature 0 to +55°C
Storage Temperature −20 to +80°C
Operating and Storage Humidity 90% or less
Vibration/Shock Resistance Vibration resistance: 4.9 m/s2 (0.5 G)(10 to 55 Hz)

Shock resistance: 19.6 m/s2 (2 G)
6 -247
6.6.16 External Position Indicator (Model MCIF-L8)
Model MCIF-L8
Item
No. of Displayed Digits “−” (minus) sign and 8 digits
Connection Method Connect to 3CN serial communications connector of SGDB-AM
J Circuit Block Diagram
7-segment LEDs
1CN
1
Connector for
Communications 2 330 Ω 1 1TB
Display Controller Power Supply
3 2
4 3
5 FG
FG
Connect to Power Supply
ITB 1 2 3
Model
MCIF-L8 +5 V 0 FG
6 Note: 1. 1CN pin nos. 7 and 8 are test pins and should not be connected to anything. Other pins
are unused.
2. The RESET button on the front panel does not perform any function.
6 -248
Model MCIF-L8
Terminal for Power Supply Connector for Controller *Applicable Receptacle Models
M3 × 6 Terminal Screws MR-16RMA* Soldered Model: MR-16F
Caulked Model: MRP-16F01
Case: MR-16L
4-φ4.5 (φ0.18)
26 (1.02)
(1.38)
140 (5.51)
35
125 (4.92)
127 (5.00)
142 (5.59)
Mounting Hole Dimensions
Surface Treatment: Electroplated

Coating; N 1.5 (Black)
Mass: 0.6 kg (1.32 lb)
(2.28)
58
157 (6.18) 125 (4.92)
6
138 (5.43)
6.6.17 Digital Switch Unit (MCIF-Djj)
This Digital Switch Unit is intended for use with SGDB-jjAM. It cannot be used with
SGDB-jjAMA.
J Specifications
Model MCIF- MCIF- MCIF- MCIF- MCIF- MCIF-

D86 D66 D44 D80 D60 D40
Item
Data Content 2-step (position command and 1-step (position command data
speed command data) only)*
Position Command Data BCD 8 BCD 6 BCD 4 BCD 8 BCD 6 BCD 4

digits digits digits digits digits digits
and sign and sign and sign and sign and sign and sign
Speed Command Data BCD 6 BCD 6 BCD 4 None

digits digits digits
6 -249
6.6.17 Digital Switch Unit (MCIF-Djj)
Model MCIF- MCIF- MCIF- MCIF- MCIF- MCIF-

D86 D66 D44 D80 D60 D40
Item

Connection Connect to 6CN connector of SGDB-AM.
* 1-step units can be used for speed command data also. (Note, however, that this usage requires
a different connector cable. The cable provided by Yaskawa cannot be used for speed com-
mand data.)
J Circuit Diagram
1CN
21
20
19
18
17
107 106 105 104 103 102 101 100
1
2
3
4
6 5
6
7
8
(Position Command Data)
105 104 103 102 101 100
9
10
11
12
13
14
15
16
(Feed Speed Command Data)
6 -250
MCIF-D44, -D66, -D86 Models
Connector for Controller Unit: mm (in)

MR-25RMD2* *Applicable Receptacle Models No. of Digits Model L
Soldered Model: MR-25F
Caulked Model: MRP-25F01 4 MCIF-D44 47.5 (1.87)
Case: MR-25L 6 MCIF-D66 63.5 (2.50)
45 (1.77) 8 MCIF-D86 79.5 (3.13)
Surface Treatment: Electroplated Coating;

N 1.5 (Black)
Mass: 0.3 kg (0.66 lb)
(0.98)(0.28) (0.98)
1.5 (0.06) 54 (2.13)
25 7 25
47 (1.85)
4-φ3.6
(φ0.14)
L 9.25
98 (3.86) (0.36)
Mounting Hole Dimensions
60 (2.36)
110 (4.33)
MCIF-D40, -D60, -D80 Models
Connector for Controller *Applicable Receptacle Models Unit: mm (in)

MR-25RMD2* Soldered Model:MR-25F
Caulked Model: MRP-25F01 No. of Digits Model L
Case: MR-25L
4 MCIF-D40 47.5 (1.87)
6 MCIF-D60 63.5 (2.50)
8 MCIF-D80 79.5 (3.13)
45 (1.77)
Surface Treatment: Electroplated

Coating; N 1.5 (Black)
Mass: 0.2 kg (0.44 lb)
47 (1.85)
4-φ3.6 (φ0.14)
32 (1.26)
42 (1.65)
1.5 (0.06) 22 (0.87)
(0.98)
25
60 (2.36) L 9.25
110 (4.33) 98 (3.86) (0.36)
6 -251
6.6.18 Contact Input Unit (MCIF-R86)
The Contact Input Unit is intended for use with SGDB-jjAM. It cannot be used with
SGDB-jjAMA.
J Specifications
Model MCIF-R86
Item
Data Content Position command (sign signal and 8-digit BCD signal), speed
command (6-digit BCD signal)
Operating and Storage Humidity 99% or less

Input Conditions DC 24 V power supply, photocoupler (drive current 7 mA),

dry contact and transistor open collector input,
position data 1CN connector,
+24 V 3.3 kΩ
speed data 2CN connector.
Input
6 Terminal
0V
Connection Connect 3CN connector and 6CN connector of SGDB-AM.
6 -252
MCIF-R86 Model
(1CN) MR-50RMA
(Manufactured by HONDA (45) (1.77) 140 (5.51)
15 (0.59)
TSUSHIN KOGYO CO., LTD.)
(2CN) 1CN
MR-34RMA
(Mounting Pitch) 235
220 (8.66)
250 (9.84)
2CN
(3CN)
(9.25)
MR-25RMA
3CN
1TB
15 (0.59)
40 (1.57) (Mounting Pitch)
55 (2.17)
External Terminal (2-pin)

M4 Screws
6
Accessories
1CN Connector (for Cable)

Hood: MR-50L
Housing: MR-50F (Manufactured by HONDA TSUSHIN KOGYO CO., LTD.)

Hood: MR-34L

Hood: MR-25L
6 -253
J Connection Diagram
1
1 1CN SERVOPACK
2
2
4
10 0 3
8
4
5
6
7
/DSO 0
10 1 8 3CN 17 28 6CN
/DSO 1
9 18 29
/DSO 2
10 19 30
20 /DSO 3 31
11
21 /DSO 4 32
12
10 2 13
/DSI10
14 1 33
2 /DSI11 34
15
/DSI12
16 3 35
4 /DSI13 36
17
5 /DSI14 37
10 3 18
/DSI15
19 6 38
7 /DSI16 39
20
8 /DSI17 40
21
22
Position 10 4 23 9
/DSI20
41
Data 24 10
/DSI21
42
/DSI22
25 11 43
12 /DSI23 44
26
13 /DSI24 45
27
/DSI25
10 5 28 14 46
/DSI26
29 15 47
/DSI27
30 16 48
31
32
10 6 33
34
35
36
37
10 7 38
6 39
40
41
MCIF-R86
+/− ∗
45
1 MCIF-R86 Connector-Terminals
2CN
2
10 0 Connectors
3 0 V Lines 24 V Lines Unused Pins
and Terminals
4
5,10,15,20,25,30,
5 1CN 47 46,48
35,40,45,49,50
6
5,10,15,20,25,30,
7 2CN 32 31,33
34
10 1 8
9 3CN − − 22,23,24,25
10
1TB N Terminal P Terminal −
11
12
10 2 13
14
Speed 15
Data 16 1TB
17 P +24V
10 3 18
19 N 0 ( 24V )
20
21
22
10 4 23
24
25
26
27
10 5 28 * + when ON
29
30
6 -254
6.6.19 Manual Pulse Generator (PRET-2C3T/100-M1)
J Specifications
Model PRET-2C3T/100-M1
Item
Power Supply 5 VDC ±10% 150 mA
Output Waveform, Output Type Short wave, line driver output
Output Pulse Number, Output 100 pulses/revolution, 90_ phase difference 2 signal (phase A,
Signal phase B)
Operating and Storage Humidity 20% to 80%RH
Connection Connect to 1CN connector of SGDB-AM.
J Output Terminal Arrangement

Note: When connecting to the SERVOPACK, con-
Symbol Function nect SIG.A and SIG.A as shown below - the
reverse of the logical sequence shown in the
1 +V (5 VDC) table at left.
2 V (0 V) 1CN
(36P)
External Pulse Train Command Unit
(5 V Differential Output) 6
3 PULS SIG.A
3 SIG. A 4 /PULS P
3
4 SIG.A DC AVR
1
6 SIGN 5 SIG.B 5V
7 2 0V
/SIGN P
4 SIG. A 2 0V
6
2
SIG.B
0V
Connector
5 SIG. B Case FG
6 SIG. B
6 -255
6.6.20 Cables for Connecting Personal Computer and SERVOPACK
J Dimensional Drawing
29 25 (0.98)
(1.14) 19 (0.75)
2 (0.08)
Terminal Section
77 (3.03)
60 (2.36)
25.5 (1.00)
60 (2.36)
80 (31.5)
φ
φ
_ _
30
30
φ
φ
φ72
53 (2.09) 8 (0.31)
7.62 7.62 M3 x 6 Terminal
Three M4 x 0.7 (0.3) (0.3) Screws
Mounting Screws
Maximum Fastening Torque: 1.68 N ⋅ m (17 kg ⋅ cm)
Panel Cut Dimensions
φ62 Hole
Note:1. Refer to the figure at right when performing the panel cut.
2. The dial is made from resin.
3. The receiver IC is equivalent to AM26LS32C or SN75175.
Three 5 Hole
6.6.20 Cables for Connecting Personal Computer and SERVOPACK

6
Special cables for connecting a personal computer to a SERVOPACK. Using these cables al-
lows monitoring and setting of parameters with a personal computer.
Personal computer software is available for these communications. Ask your Yaskawa repre-
sentative for details. Operate the software as described in the manual supplied.
Cable for PC/AT-Compatible Computers (model DE9408565)

D Cable Form
Unit: mm (in)
D-Sub Connector
17JE-13090-02 (D8A)
Manufactured by Daiichi Denshi Kogyo K.K.
(78.74±1.97)
Cable (Black)
Two M3 screws,
UL2921
0.5 (0.02) pitch
Two M2.6 0.16 (0.01) × 7
shielded twisted Pin Connector 17JE-23090-02 (D1)
screws, 0.45
9-core cable Manufactured by Daiichi Denshi
(0.02) pitch
Kogyo K.K.
6 -256
D Connection Circuit
Personal Computer Side SERVOPACK Side (D-Sub
(D-Sub 9-pin) 9-pin)
Clamp on Hood Clamp on Hood
6 -257
7
Inspection, Maintenance, and
Troubleshooting
This chapter describes the basic inspections and maintenance to be carried

out by the customer.
In addition, troubleshooting procedures are described for problems which
cause an alarm display and for problems which result in no alarm display.
7.1 Inspection and Maintenance . . . . . . . . . . . 7-2

7.1.1 Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.2 SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.1.3 Replacing Battery for Back-up . . . . . . . . . . . . . . . 7-4
7.2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . 7-5

7.2.1 Troubleshooting Problems with Alarm Display . 7-5 7
7.2.2 Troubleshooting Problems with
No Alarm Display . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 33
7.2.3 Internal Connection Diagram and
Instrument Connection Examples . . . . . . . . . . . . 7 - 35
7 -1
Inspection, Maintenance, and Troubleshooting
7.1.1 Servomotor
7.1 Inspection and Maintenance
This chapter describes the basic inspection and maintenance procedures for the Servomotor and
SERVOPACK, as well as the method of replacing back-up batteries used for the absolute encoder
and the built-in memory of the SERVOPACK.
7.1.1 Servomotor
For inspection and maintenance of servomotors, follow the simple, daily inspection proce-
dures in the table below. The AC servomotors are brushless. Simple, daily inspection is suffi-
cient. The inspection and maintenance frequencies in the table are only guidelines. Increase
or decrease the frequency to suit the operating conditions and environment.
IMPORTANT During inspection and maintenance, do not disassemble the servomotor.

If disassembly of the servomotor is required, contact your Yaskawa representative.
Table 7.1 Servomotor Inspections
Item Frequency Procedure Comments
Vibration and noise Daily Touch and listen. Levels higher than nor-
mal?
Appearance According to degree of Clean with cloth or com-
contamination pressed air.
Insulation resistance Yearly Disconnect SERVOPACK Contact your Yaskawa
measurement and test insulation resis- representative if the in-
tance at 500 V. Must ex- sulation resistance is
7 ceed 10 MΩ.*. below 10 MΩ..
Replace oil seal Every 5,000 hours Remove servomotor from Applies only to motors
machine and replace oil with oil seal.
seal.
Overhaul Every 20,000 hours or Contact your Yaskawa The customer should
5 years representative. not disassemble and
clean the servomotor.
* Measure across the servomotor FG and the phase-U, phase-V, or phase-W power lead.
7 -2
7.1 Inspection and Maintenance
7.1.2 SERVOPACK
For inspection and maintenance of the SERVOPACK, follow the inspection procedures in the
table below at least once every year. The SERVOPACK contains highly reliable parts and daily
inspection is not required. Carry out the inspections and maintenance in the table below once
every year.
Table 7.2 SERVOPACK Inspections
Item Frequency Procedure Remedy
Clean unit interior and Yearly Check for dust, dirt, and oil on Clean with cloth or com-
circuit boards the surfaces. pressed air.
Loose screws Yearly Check for loose terminal block Tighten any loose screws.
and connector screws.
Defective parts in unit Yearly Check for discoloration, damage Contact your Yaskawa
or on circuit boards or discontinuities due to heating. representative.
J Part Replacement Schedule

The following parts are subject to mechanical wear or deterioration over time. To avoid failure,
replace these parts at the frequency indicated.
If the SERVOPACK has been already overhauled at Yaskawa, its parameters are set back to
the standard settings on shipment. Always check the parameters before operating the motor.
Table 7.3 Periodical Part Inspections
Part Standard Replacement Method

Replacement Period
Cooling fan 4 to 5 years Replace with new part. 7

Smoothing Capacitor 7 to 8 years Test. Replace with new part if necessary.
Relays − Test. Replace if necessary.
Fuse 10 years Replace with new part.
Aluminum Electrolytic Ca- 5 years Test. Replace with new circuit board if nec-
pacitor on Circuit Board essary.
Operating Conditions
D Ambient Temperature: annual average 30°C
D Load Factor: 80% max.
D Operation Rate: 20 hours/day max.
7 -3
7.1.3 Replacing Battery for Back-up
7.1.3 Replacing Battery for Back-up
Battery replacement is only required for servo systems using a battery for back-up.
The battery model recommended below (purchased by the customer) is installed in the host
controller to allow the back-up memory or the absolute encoder to store position data when
the power is turned OFF.
Recommended Battery
Lithium Battery
ER6VLY+DF3.CONNECTOR, manufactured
by Toshiba Battery Co., Ltd. 3.6 V, 2000 mAh
Estimated Life: Approximately 10 years
SGDB SERVOPACK
7CN-1
Mount in the holder +
located on the 7CN-2
SERVOPACK panel. −
/
SERVOPACK /
back-up
memory
/
Connector case
FG Shield
Figure 7.1 Connection Diagram of Back-up Battery

7
The SERVOPACK monitors the battery voltage. If this voltage drops, a low battery alarm will
appear.
If a low battery alarm appears, replace the battery using the following procedure.
J Battery Replacement Procedure
1. Turn ON the SERVOPACK.

2. Replace the battery in the SERVOPACK.
7 -4
7.2 Troubleshooting
7.2 Troubleshooting
This section describes causes and remedies for problems which cause an alarm display and for
problems which result in no alarm display.
7.2.1 Troubleshooting Problems with Alarm Display

If the servo drive develops a problem, an alarm display “A.jj” or “CPFjj” will appear
in the Digital Operator. Note, however, that “A.99” is not an alarm. The alarm displays and
their correct remedies are listed below.
Contact your Yaskawa representative if the problem cannot be solved by the described proce-
dures.
J A.00
A.00 indicates an absolute data error.
Alarm A.00 is reset when the power is turned OFF and then ON. It is not reset by the normal
alarm reset.
Alarm Output
Alarm Output
Alarm Code Output Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF OFF OFF OFF
ON: Output transistor is ON

OFF: Output transistor is OFF 7
Status When Lit and Remedies
Cause Remedy
A When the control power source of the SERVOPACK was Reset the machine zero point.
OFF, the motor shaft rotated more than the value specified by (If necessary, increase the val-
the parameter Cn-14. ue of Cn-14.)
B Absolute encoder power not supplied from SERVOPACK Use the encoder power supply
on the SERVOPACK.
C Incorrect wiring of absolute encoder Check the absolute encoder

wiring and rewire correctly.
D Incorrect parameter setting. Set Cn-01 Bit E to 0.

Incremental encoder used with Cn-01 Bit E set to 1
E Absolute encoder defective Replace servomotor.
F Circuit board defective Replace SERVOPACK.
7 -5
J A.02
A.02 indicates a parameter breakdown.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF OFF OFF OFF

OFF: Output transistor is OFF
Occurred at power ON A, B
Cause Remedy
A Power turned OFF during parameter write. Initialize and reset (or reload) parameters and
Alarm occurred at the next power ON. table settings.
B Circuit board defective Replace SERVOPACK.
J A.04
7 A.04 indicates a parameter setting error.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF OFF OFF OFF

7 -6
7.2 Troubleshooting
Cause Remedy
A An out-of-range parameter was previously set Reset all parameters in range. Otherwise, re-
or loaded. load correct parameters.
7 -7
J A.10
A.10 indicates overcurrent.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
ON OFF OFF OFF OFF

Occurred during
servomotor operation A, B, D Occurred when servo ON C, D
(/S-ON) signal turned ON
Occurred at power ON C
Cause Remedy
A Wiring grounded between SERVOPACK and Check and correct wiring.

servomotor
7 B Servomotor phase U, V, or W grounded. Replace servomotor.
C S Circuit board defective Replace SERVOPACK.

S Power transistor defective
D Current feedback circuit, power transistor, Replace SERVOPACK.

DB relay, or circuit board defective.
7 -8
7.2 Troubleshooting
J A.30
A.30 indicates a regenerative alarm.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
ON ON OFF OFF OFF

Occurred during
A, B Occurred when the
servomotor operation
control power turned ON D
Occurred approximately
1 second after the main A, B, C
circuit power ON
Cause Remedy
A Regenerative transistor is abnormal. Replace SERVOPACK.
B Disconnection of the regenerative resistor Replace SERVOPACK or regenerative resis-

unit tor unit.
7
C Regenerative resistor unit disconnected Check wiring of the regenerative resistor
(for more than 5.0 kW) unit.
D SERVOPACK defective. Replace SERVOPACK.
7 -9
J A.40
A.40 indicates a main circuit voltage alarm.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF ON OFF OFF

Occurred when the control

Occurred at power ON A, B, C, D power turned ON E
Occurred approximately
0.6 second after the main A, D
circuit power turned ON.
Cause Remedy
A The power supply voltage is not within the Check power supply.
range of specifications.
7 B Load exceeds capacity of the regenerative

unit.
Check specifications of load inertia and over-
hanging load.
C Regenerative transistor is abnormal. Replace SERVOPACK.
D S Rectifying diode defective

S Fuse blown
S Inrush current-limited resistor
disconnected
E SERVOPACK defective
7 -10
7.2 Troubleshooting
J A.51
A.51 indicates overspeed.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
ON OFF ON OFF OFF

Occurred when servo A, B, C, D, E

ON (/S-ON) signal Occurred at power ON E
turned ON
Occurred during
high-speed A, B, C, D, E
servomotor rotation
after command input
Cause Remedy
A S Servomotor wiring incorrect. Check and correct wiring. (Check phase-A,

S Encoder wiring incorrect (disconnection, -B, and -C pulses correct at 2CN.)
shortcircuit, power supply, etc.)
B Incremental encoder power not supplied from Use the SERVOPACK power supply for the
7
SERVOPACK encoder.
C Noise in encoder wiring Separate encoder wiring from main wiring

circuits.
D Incorrect parameter (number of encoder Set parameter Cn-11 to the correct number of
pulses) setting pulses.
E Circuit board defective Replace SERVOPACK.
7 -11
J A.71
A.71 indicates an overload excessively high overload.
The alarm output, the status when LEDs are lit, and the remedy procedure are identical to those
of A.72 below.
J A.72
A.72 indicates an overload (long-term overload).
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
ON ON ON OFF OFF

Occurred when servo ON

(/S-ON) signal turned ON A, B, D Occurred at power ON E
Occurred when
7 command was input
Occurred at no
servomotor rotation B, C, D
Occurred during
normal operation
C, D
Cause Remedy
A Servomotor wiring incorrect or disconnected Check wiring and connectors at servomotor.
B Encoder wiring incorrect or disconnected Check wiring and connectors at encoder.
C Load greatly exceeds rated torque. Reduce load torque and inertia. Otherwise,
replace with larger capacity servomotor.
D Incremental encoder power not supplied from Use the SERVOPACK power supply for the
SERVOPACK. encoder.
7 -12
7.2 Troubleshooting
J A.7A
A.7A indicates that the heat sink overheated.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
ON ON ON OFF OFF

Occurred during Occurred when the

servomotor operation A, B, C, D control power turned ON E
Cause Remedy
A The ambient temperature of the SERVOPACK Alter conditions so that the ambient temper-
exceeds 55°C. ature goes below 55°C.
B The air flow around the heat sink is bad. Follow installing method and provide suffi-
cient surrounding space as specified.
C Fan stopped. Replace SERVOPACK
D SERVOPACK is running under overload. Reduce load.

7
E SERVOPACK defective Replace SERVOPACK
7 -13
J A.80
A.80 indicates an encoder error.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF OFF ON OFF

A, B Occurred during
Occurred at power ON
servomotor operation
A, C, D, E
Cause Remedy
A Encoder wiring error Check the encoder wiring and rewire correct-
ly.
C Error occurred in absolute encoder. Turn the SERVOPACK OFF and then ON.
S Another encoder-related alarm is dis-
played when the power is turned ON
7 again.
D SERVOPACK miscounted pulses (positional S Separate encoder wiring from main cir-
displacement) or malfunctioned due to noise. cuits.
S Turn the SERVOPACK OFF and then
ON.
E The number of encoder pulses set in the Set the correct encoder pulse number in
SERVOPACK differs from the number of Cn-11.
pulses of the connected encoder.
7 -14
7.2 Troubleshooting
J A.81
A.81 indicates an absolute encoder back-up error. (This alarm only occurs when a 12-bit abso-
lute encoder is used.)
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF OFF ON OFF

Occurred at power ON A, B, C
Cause Remedy
A The following power supplied to the absolute Initialize the absolute encoder and reset the
encoder all failed: machine zero point.
S +5 V supply
S Battery
S Internal capacitor
B Circuit board defective Replace SERVOPACK. 7

C Absolute encoder malfunctioned Replace servomotor.
7 -15
J A.82
A.82 indicates an absolute encoder checksum error. (This alarm only occurs when a 12-bit ab-
solute encoder is used.)
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF OFF ON OFF

Occurred during
Occurred at power ON A, B operation * A
Cause Remedy
A Abnormality during absolute encoder S Initialize the absolute encoder and reset
memory check the machine zero point.
S Replace servomotor if error occurs fre-
quently.
7 * If a checksum error (A.82) occurs during operation, an absolute encoder error (A.80) will be initially generated . The
checksum error (A.82) occurs after SERVOPACK is turned OFF and then ON.
7 -16
7.2 Troubleshooting
J A.83
A.83 indicates that battery voltage is low, or an absolute encoder battery error occurred. (The
absolute encoder battery alarm only occurs when a 12-bit absolute encoder is used.)
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF OFF ON OFF

Occurred at power ON A, B, C Occurred during A, B

operation *
Cause Remedy
A S Battery not connected Check and correct battery connection.

S Battery connection defective
B Battery voltage below specified value Replace the battery and turn SERVOPACK
Specified value: 2.8 V ON.
C Circuit board defective Replace SERVOPACK.
* No alarm occurs at the SERVOPACK when a battery error (A.83) is generated. The battery er-
7
ror (A.83) occurs the next time the SERVOPACK turns ON.
7 -17
J A.84
A.84 indicates an absolute encoder data alarm. (This alarm only occurs when an absolute en-
coder is used.)
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF OFF ON OFF

Occurred at power ON A, B Occurred during B

operation *
Cause Remedy
A Absolute encoder malfunctioned S Turn the SERVOPACK OFF and then

ON.
S Replace servomotor if error occurs fre-
quently.
7 * No alarm occurs at the SERVOPACK when a data error (A.84) is generated. The data error
(A.84) occurs the next time the SERVOPACK turns ON.
7 -18
7.2 Troubleshooting
J A.85
A.85 indicates an absolute encoder overspeed. (This alarm only occurs when an absolute en-
coder is used.)
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF OFF ON OFF

Cause Remedy
A Absolute encoder turned ON at a speed ex- Turn the SERVOPACK OFF and then ON. If
ceeding 400 r/min. this error occurs frequently, replace the servo-
motor.
7 -19
J A.b0
A.b0 indicates a hardware error.
This alarm is occasionally not stored in the alarm trace-back function memory.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
ON ON OFF ON OFF

Occurred at power ON A, B Occurred during A, B

operation
Cause Remedy
A SERVOPACK malfunctioned. Turn the control power ON again.
B SERVOPACK defective Replace SERVOPACK.
7 -20
7.2 Troubleshooting
J A.b2
A.b2 indicates CPU error 1.
Occasionally, this alarm is not displayed via serial communications or on the Digital Operator,
but is stored in the alarm trace-back function memory only.
In this case, the 7-segment LED on the SERVOPACK will indicate a CPU error ( ), and the
Digital Operator will display either “CPF00” or “CPF01.”
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
ON ON OFF ON OFF

Cause Remedy
B SERVOPACK defective Replace SERVOPACK. 7
7 -21
J A.b3
A.b3 indicates CPU error 2.
Occasionally, this alarm is not displayed via serial communications or on the Digital Operator,
but is stored in the alarm trace-back function memory only.
In this case, the 7-segment LED on the SERVOPACK will indicate a CPU error ( ), and the
Digital Operator will display either “CPF00” or “CPF01.”
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
ON ON OFF ON OFF


operation
Cause Remedy
7 B SERVOPACK defective Replace SERVOPACK.
7 -22
7.2 Troubleshooting
J A.C1
A.C1 indicates a Servo overrun.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF ON ON OFF

Occurred when servo ON

Occurred at power ON
(/S-ON) signal turned ON
A, B, C, D, E
Occurred when
parameter Cn-01 E Occurred when command A, B, C, D, E
Bit 0 = 0 was input
Occurred 1 to 3 seconds
after power ON
Occurred when
parameter Cn-01 A, B, C, D, E
Bit 0 = 1
7
Cause Remedy
A Servomotor wiring incorrect Check wiring and connectors at servomotor.
B Encoder wiring incorrect Check wiring and connectors at encoder.
C Incremental encoder power not supplied from Use the SERVOPACK power supply for the
SERVOPACK encoder.
D Encoder defective Replace servomotor.
7 -23
J A.C2
A.C2 indicates that an encoder phase error was detected. (This alarm only occurs when an in-
cremental encoder is used.)
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF ON ON OFF

Occurred during
Occurred at power ON D, E servomotor operation A, B, C, D
after power ON A, B, C, D
Cause Remedy
A Noise in encoder wiring Separate encoder wiring from main wiring

circuits.
7 B Encoder wiring incorrect or poor connection Check wiring and connectors at encoder.
C Encoder defective Replace servomotor.
D Circuit board defective Replace SERVOPACK.
E Absolute encoder was used with incremental Change to absolute encoder setting. (Change
encoder setting. bit E of Cn-01 to 1.)
7 -24
7.2 Troubleshooting
J A.C3
A.C3 indicates an encoder phase A or phase B disconnection.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF ON ON OFF

Occurred at power ON Occurred when servo ON

(/S-ON) signal turned ON A, B, C, D
Occurred when
parameter Cn-01 Occurred during
Bit 0 = 0
D servomotor operation
A, B, C, D
after power ON
Occurred when
parameter Cn-01 A, B, C, D
Bit 0 = 1
7
Cause Remedy
A Encoder wiring incorrect or poor connection Check wiring and connectors at encoder.
B Noise in encoder wiring Separate encoder wiring from main wiring

circuits.
7 -25
J A.C4
A.C4 indicates an encoder phase C disconnection.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF ON ON OFF

Occurred at power ON Occurred when servo ON

(/S-ON) signal turned ON A, B, C, D
Occurred when
parameter Cn-01 Bit Occurred during
C servomotor operation
A, B, C, D
0=0
after power ON
Occurred when
parameter Cn-01 Bit A, B, C, D
0=1
7
Cause Remedy
A Encoder wiring incorrect or poor connection Check wiring and connectors at encoder.
B Noise in encoder wiring Separate encoder wiring from main wiring

circuits.
7 -26
7.2 Troubleshooting
J A.d0
A.d0 indicates a position error pulse overflow.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
ON OFF ON ON OFF

Occurred during
servomotor operation Occurred at power ON F
Overflow during
high-speed A
operation
No feedback pulse
returned after B, F
command input
Normal operation but

overflow when C, D, E
command for long
stroke operation was
input
7
Cause Remedy
A Servomotor wiring incorrect Check and correct wiring. (Check that

phase A -B,
phase-A, B -CC pulses are correct at 2CN.)
2CN )
B Encoder wiring incorrect (disconnection,
shortcircuit, power supply, etc.)
C SERVOPACK adjustment incorrect Increase speed loop gain (Cn-04) and/or

position loop gain (Cn-1A).
D Servomotor overloaded Reduce load torque and inertia. Otherwise,

replace with larger capacity servomotor.
E S Position command pulse frequency too S Decrease command pulse frequency.

high S Decrease acceleration/deceleration rate.
S Specified acceleration/deceleration rate S Change electronic gear ratio.
too high
F Circuit board defective Replace SERVOPACK.
7 -27
J A.F1
A.F1 indicates power line open-phase.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
ON ON ON ON OFF

Occurred at main circuit Occurred when the control

power supply ON. A, B power turned ON. C
Cause Remedy
A One phase (L1, L2, or L3) of the main circuit S Check power supply.
power supply is disconnected. S Check wiring of the main circuit power
supply.
S Check MCCB, noise filter, and magnetic
contactor.
B There is one phase where the line voltage is Check power supply.
low.
7
C SERVOPACK defective Replace SERVOPACK.
7 -28
7.2 Troubleshooting
J A.F3
A.F3 indicates a momentary power loss alarm.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
ON ON ON ON OFF

Occurred at main circuit Occurred during

power supply ON. A, B servomotor operation A, C
Cause Remedy
A Although the momentary power loss alarm is Set the parameter Cn-01 bit 5 to 0.
not necessary, its parameter is set valid.
B Time between turning power OFF and back After turning power OFF, wait for at least 0.5
ON was shorter than 0.5 second. second, and then ON again.
C If any of the following power supply condi- Check the power supply.
tions are met during motor operation:
Terms
S Complete power loss: half cycle of supply
S Complete power loss = Power loss where 7
frequency
voltage drops to zero.
S Voltage drop: full cycle of supply fre-
S Voltage drop = Power loss where voltage
quency
drops, but not to zero.
Note: Because of detector lag or detector mar-
gin, there may be no alarm even if the
above values are exceeded.
7 -29
J CPF00
CPF00 indicates a Digital Operator transmission error 1. This alarm is not stored in alarm trace-
back function memory.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
Not specified
Occurred at power ON. Occurred when digital

Digital operator connected A, B, C, D operator was connected A, B, C, D
before SERVOPACK to SERVOPACK while
power turned ON. power turned ON.
Cause Remedy
A Cable defective or poor contact between Dig- S Check connector connections.

ital Operator and SERVOPACK S Replace cable.
B Malfunction due to external noise Separate Digital Operator and cable from
noise source.
C Digital Operator defective Replace Digital Operator.
D SERVOPACK defective Replace SERVOPACK.
7 -30
7.2 Troubleshooting
J CPF01
CPF01 indicates a Digital Operator transmission error 2. This alarm is not stored in alarm trace-
back function memory.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
Not specified
Occurred during operation A, B, C, D
Cause Remedy
A Cable defective or poor contact between S Check connector connections.

Digital Operator and SERVOPACK S Replace cable.
B Malfunction due to external noise Separate Digital Operator and cable from
noise source.
C Digital operator defective Replace Digital Operator.
D SERVOPACK defective Replace SERVOPACK.
7 -31
J A.99
Indicates normal operation. Not an alarm.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
OFF OFF OFF OFF ON

J CPU Error ( 7-segment LED Display)

Indicates an error in the SERVOPACK CPU.
When this error occurs, the Digital Operator displays “CPF00” or “CPF01.”
A.b2 or A.b3 may be stored in the alarm trace-back function memory.
Alarm Output
Alarm Output
/AL0 /AL1 /AL2 /AL3
7 OFF OFF OFF OFF OFF


operation
Cause Remedy
A SERVOPACK malfunctioned Turn the control power ON again.
B SERVOPACK defective Replace SERVOPACK.
7 -32
7.2 Troubleshooting
7.2.2 Troubleshooting Problems with No Alarm Display
Refer to the tables below to identify the cause of a problem which causes no alarm display and
take the remedy described.
Turn OFF the servo system power supply before commencing the shaded procedures.
Contact your Yaskawa representative if the problem cannot be solved by the described proce-
dures.
Table 7.4 Troubleshooting Table with No Alarm Display
Symptom Cause Inspection Remedy
Servomotor does not start. Power not turned ON Check voltage between power Correct the power circuit.
supply terminals.
Loose connection Check terminals of connectors Tighten any loose parts.

(1CN, 2CN, 3CN, 6CN).
Connector (1CN) external wir- Check connector (1CN) exter- Refer to connection diagram
ing incorrect nal wiring. and correct wiring.
Servomotor or encoder wiring − Reconnect wiring.

disconnected
Overloaded Run under no load. Reduce load or replace with

larger capacity servomotor.
Command not input Check input pins. Input correctly.
/S-ON input is turned OFF (If Cn-01 Bit 0 is 0) Turn /S-ON input ON.
Command pulse mode selec- Refer to 3.9 Pulse Operation Select correct parameters Cn-02 7
tion incorrect Mode. Bits 3, 4, 5.
Encoder type used differs from Incremental or absolute encod- Set parameters Cn-01 Bit E to
parameter setting. er? the encoder type used.
P-OT and N-OT inputs are (If Cn-01 Bits 2, 3 are 0) Turn P-OT and N-OT input
turned OFF. signals ON.
Servomotor moves instanta- Number of encoder pulses used − Set the parameter Cn-11 to the
neously, then stops. differs from parameter setting. number of encoder pulses used.
Servomotor or encoder wiring − Refer to 3.18 Special Wiring

incorrect and correct wiring.
Suddenly stops during opera- An alarm occurred with the − Remove cause of alarm. Turn
tion and will not restart. alarm reset signal /ALM-RST alarm reset signal /ALM-RST
ON. from ON to OFF.
Servomotor speed unstable Wiring connection to motor de- Check connection of phase -U, Tighten any loose terminals or
fective -V, and -W power leads encod- connectors.
er connectors.
7 -33
7.2.2 Troubleshooting Problems with No Alarm Display
Symptom Cause Inspection Remedy
Servomotor vibrates at approxi- Speed loop gain value is too − Reduce Cn-04 set value for
mately 200 to 400 Hz. high. speed loop gain.
High rotation speed overshoot Speed loop gain value is too − Reduce Cn-04 set value for
on starting and stopping. high. speed loop gain.
Servomotor overheated Ambient temperature is too Measure servomotor ambient Reduce ambient temperature to
high. temperature. 40°C max.
Servomotor surface dirty Visual check Clean dust and oil from motor
surface.
Overloaded Run under no load. Reduce load or replace with

larger capacity servomotor.
Abnormal noise Mechanical mounting incorrect Servomotor mounting screws Tighten mounting screws.
loose?
Coupling not centered? Center coupling.
Coupling unbalanced? Balance coupling.
Bearing defective Check noise and vibration near Consult your Yaskawa repre-
bearing. sentative if defective.
Machine causing vibrations Foreign object intrusion, dam- Consult with machine
age or deformation of driving manufacturer if defective.
parts of machine.
7 -34
7.2 Troubleshooting
7.2.3 Internal Connection Diagram and Instrument Connection

Examples
The following diagram shows the SGDB-jjAM SERVOPACK internal connection diagram,
instrument connection examples, and connections between SERVOPACK and encoder.
Refer to these diagrams during inspection and maintenance.
J Internal Connection Diagram
0.5 to 1.5 kW
Three-phase +10
200 to 230 VAC −15 %
(50/60 Hz) B
R1 THS1 FAN1
Ry1 R2
+
3PWB FU1 R3 B PM1
(SGDB- P
CC ) D1 D2 D3 Servomotor
Line filter P1 ±12 V
CT1
1MC L1 BA1 BA3 U U
R C1 CHARGE C10 CT2 V
L2 V
S
L3 W
T W
C7 C6 C5
BA2
N
C9
Voltage Base driver, Overcurrent

Voltage protection isolator
detection Relay
detection
isolator driver
isolator
−
−
2PWB(SGDB-
CB • AA) Current 2CN PG
L1C DC/DC detection
conver- ±5 V
L3C
sion
±12 V PWM control circuit A
Voltage PG5 V
4PWB(SGDB- adjust- 1CN
CDAA) ment (PG output)
Power 2SW Serial port (Pulse input)

Power ON setting Servo
OFF 1MC A
control
STATUS
7
circuit
1MC Surge 5PWB
suppressor (SGDB- +5 V
CEMA) I/O (Sequence input/
Open when Servo control circuit
(5Ry) output)
Servo alarm
occurs. 0V
I/O POWER ALARM 7CN (Battery)
Axis address A
6PWB Analog voltage selection 1PWB
conversion 1SW
(SGDB- (SGDB-
CFMA) 6CN 5CN 3CN CAMA)
(Sequence input/ (Analog monitor (Digital operator,

output) output for personal computer)
observation)
Figure 7.2 Internal Connection Diagram of 0.5 to 1.5 kW SERVOPACK
7 -35
7.2.3 Internal Connection Diagram and Instrument Connection Examples
2.0 to 3.0 kW
Three-phase
+10 B
200 to 230 VAC −15 %
(50/60 Hz) R1 THS1 FAN1 FAN2 FAN2 is not
used for 2.0 kW
Ry1
+ DB1 B PM1
3PWB FU1 R3
(SGDB- P P Servomotor
Line filter CC AA)
±12 V
R4 CT1 U
1MC L1 BA1 BA3 U
R C1 CT2 V
L2
CHARGE
C10 V
S W
L3 W
T
BA2 C7 C6 C5 DB2
N
C9
Voltage Base driver, Overcurrent

Voltage protection isolator
detection Relay TC1
detection
isolator driver isolator Gate drive
− isolator
2PWB(SGDB- 2CN PG
Current
CB AA)
L1C DC/DC detection
L3C conver- ±5 V
sion ±12 V A
PWM control circuit
PG5 V
4PWB(SGDB- Voltage 1CN
CDAA)
adjust- (PG output)
ment

Power ON selection
1MC Servo A
OFF control
STATUS circuit
1MC Surge 5PWB
CEMA) I/O (Sequence in-
put/output)
Open when Servo control circuit
(5Ry) Servo alarm
occurs. 0V
I/O POWER ALARM
A 7CN (Battery)
6PWB Analog voltage Axis address 1PWB
selection
(SGDB- conversion (SGDB-
CFMA) 5CN CAMA)
6CN 3CN
(Analog monitor (Digital operator,
(Sequence in- output for personal computer)
put/output) observation)
7 -36
7.2 Troubleshooting
5.0 to 15.0 kW
Three-phase Regenerative resistor (option)
+10
200 to 230 VAC −15 % +1 B
(50/60 Hz)
THS1 FAN1
+ Ry1
DB1 PM1/PM2/PM3
P FU1 R3
Line filter Servomotor
D1
U CT1 ±12 V
1MC L1 BA1 BA3 U
R C10 V
C1 CHARGE V CT2 V
L2 S
L3 T W W
C7 C6 C5 TR1
BA2 SCR1
N
C9
Voltage Base driver, Overcurrent R2
Voltage
detection Relay protection isolator
detection
isolator driver isolator Gate drive
− isolator
−
2CN PG
Current
L1C DC/DC detection
L3C conver- ±5 V
sion ±12 V A
PWM control circuit
Voltage PG5 V
adjust-
1CN
ment (PG output)

Power ON setting
OFF 1MC Servo A
STATUS control
circuit
1MC Surge
5PWB
I/O (Sequence in-
CEMA) put/output)
Open when
(5Ry) Servo alarm Servo control circuit
occurs. 0V
I/O POWER ALARM
A 7CN (Battery)
6PWB Analog voltage Axis address selection
(SGDB- conversion 1PWB
CFMA) (SGDB-
6CN 5CN 3CN CAMA)
(Analog monitor (Digital operator,
(Sequence in-
output for personal computer)
put/output)
observation)
7 -37
J Instrument Connection Examples

Examples of a SERVOPACK connected to a power supply and a servomotor are shown below.
For details on how to connect the SERVOPACK to a host controller, refer to 3.4 to 3.7.
+10
Three-phase 200 to 230 VAC −15 %
(50/60 Hz)
R S T SERVOPACK
1MCCB SGDB- AM
U A
B
V M
FIL C
W
D
FG
L1C 2CN
L3C
PG
1MC
L1
L2
L3 1CN
(For servo alarm display) 22 +24 V
ALM+ 1Ry
1Ry
1PL
Main circuit Main circuit
23 0
power supply power supply 1D 24 V
ON 1Ry 1MC ALM−
OFF
FG
1MC 1SUP
1MCCB: Circuit breaker for wiring (for inverter) 1PL: Indicator lamp
FIL: Noise filter 1SUP: Surge suppressor
1MC: Contactor 1D: Flywheel diode
1Ry: Relay
7 -38
7.2 Troubleshooting
J Connections between SERVOPACK and Encoder for SGMS

SGMD, and SGMG
Incremental Encoder
Incremental encoder
Blue Phase A 1-24 PAO
PA
White Blue 1-25 /PAO
/PA
Yellow Phase B 1-26 PBO
PB
White Yellow 1-27 /PBO
/PB
Green
PC Phase C 1-14 PCO
White Green 1-15 /PCO
/PC
Output line driver Applicable line
TI- made receiver
SN75ALS194 or equivalent TI-made
Red SN75175 or
Black equivalent
1-5
Connector Connector
case case (Customer’s side)
Shield wire
Cable B9400064
Figure 7.5 Connecting Incremental Encoder and SERVOPACK
Absolute Encoder
Absolute encoder
Blue
White Blue
PA Phase A
1-24
1-25
PAO
/PAO
7
/PA
Yellow Phase B 1-26 PBO
White Yellow
PB 1-27 /PBO
/PB
Green 1-14 PCO
PC Phase C
White Green 1-15 /PCO
/PC
Purple
PS Output line driver
White Purple Applicable line
/PS TI- made receiver
SN75ALS194 or TI-made
Red equivalent SN75175 or
Black equivalent
White Gray 7CN

Orange 7-1
White Orange 7-2
Connector Connector (Customer’s side)

case case Battery
Shield wire
Cable DP8409123
Figure 7.6 Connecting Absolute Encoder and SERVOPACK
7 -39
J Connections between SERVOPACK and Encoder for SGM and

SGMP
Incremental Encoder
Incremental encoder
1 Blue Phase A 1-24 PAO
PA
2 White Blue 1-25 /PAO
/PA
3 Yellow Phase B 1-26 PBO
4 PB
White Yellow 1-27 /PBO
/PB
5 Green
PC Phase C 1-14 PCO
6 White Green 1-15 /PCO
/PC
Output line driver Applicable line
TI- made receiver
SN75ALS194 or equivalent TI-made
8 Red SN75175 or
7 Black equivalent
1-5
9 Connector Connector
case case (Customer’s side)
Shield wire
Cable B9400064
Figure 7.7 Connecting Incremental Encoder and SERVOPACK
Absolute Encoder
Absolute encoder
7 1 Blue
2 White Blue
PA Phase A
1-24
1-25
PAO
/PAO
/PA
3 Yellow Phase B 1-26 PBO
4 White Yellow PB 1-27 /PBO
/PB
5 Green 1-14 PCO
PC Phase C
6 White Green 1-15 /PCO
/PC
10 Purple
PS Output line driver
11 White Purple Applicable line
/PS TI- made receiver
SN75ALS194 or TI-made
8 Red equivalent SN75175 or
7 Black equivalent
13 White Gray 7CN

15 Orange 7-1
14 White Orange 7-2
9
Connector Connector (Customer’s side)
case case Battery
Shield wire
Cable DP8409123
Figure 7.8 Connecting Absolute Encoder and SERVOPACK
7 -40
A A
Servo Adjustment
This appendix presents the basic rules for Σ-Series AC SERVOPACK gain
adjustment, describes various adjustment techniques, and gives some pre-
set values as guidelines.
A.1 Σ-Series AC SERVOPACK Gain

Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
A.1.1 Σ-Series AC SERVOPACKs and Gain Adjustment
Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
A.1.2 Basic Rules for Gain Adjustment . . . . . . . . . . . . . A-2
A.2 Adjusting a Position-control SERVOPACK A-4

A.2.1 Adjusting Using Auto-tuning . . . . . . . . . . . . . . . . . A-4
A.2.2 Adjusting Manually . . . . . . . . . . . . . . . . . . . . . . . . . A-5
A.3 Gain Setting References . . . . . . . . . . . . . . . A-8

A.3.1 Guidelines for Gain Settings According to Load
Inertia Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8
A-1
Servo Adjustment
A.1.2 Basic Rules for Gain Adjustment
A.1 Σ-Series AC SERVOPACK Gain Adjustment
This section gives some basic information required to adjust the servo system.
A.1.1 Σ-Series AC SERVOPACKs and Gain Adjustment Methods
The SGDB-AM SERVOPACK can be adjusted manually by observing machine responses, or

A automatically using the SERVOPACK auto-tuning function.
The main parameters changed by the customer to adjust the servo system include the follow-
ing:
D Cn-04 (Speed Loop Gain)

D Cn-05 (Speed Loop Integration Time Constant)
D Cn-17 (Torque Command Filter Time Constant)
D Cn-1A (Position Loop Gain)
A simple block diagram of the servo system is shown below.
Speed
Speed
pattern
Motor
Speed Kv Current
Error Power
counter KP control control
converter
section Ti section
Time
Speed loop
Position loop
Encoder
Kp: Position loop gain
Kv: Speed loop gain
Ti: Integration time constant
Figure A.1 Servo System Block Diagram
A.1.2 Basic Rules for Gain Adjustment
1. The servo system comprises three feedback systems: position loop, speed loop, and current
loop. The response must increase from outer loop to inner loop (see Servo System Block
Diagram, above). The response deteriorates and oscillates if this principle is not obeyed.
The customer cannot adjust the current loop. Sufficient response is assured for the current
loop.
The customer can adjust the position loop gain and speed loop gain, as well as the speed
loop integration time constant and torque command filter.
2. The position loop and speed loop must be adjusted to provide a balanced response.
In particular, if the position loop gain only is increased (adjustment with Cn-1A at the SER-
VOPACK, the speed commands oscillate, and the positioning time extends and oscillates
as a result.
If the position loop gain (or Cn-1A) is increased, the speed loop gain (Cn-04) must be simi-
larly increased.
If the mechanical system starts to oscillate after the position loop gain and speed loop gain
are increased, do not increase the gains further.
A-2
A.1 Σ-Series AC SERVOPACK Gain Adjustment
3. The position loop gain should not normally be increased above the characteristic frequen-
cy of the mechanical system.
For example, the harmonic gears used in an articulated robot form a structure with ex-
tremely poor rigidity and a characteristic frequency of approximately 10 to 20 Hz. This
type of machine allows a position loop gain of only 10 to 20 (1/sec).
Conversely, the characteristic frequency of a precision machine tool such as a chip mount-
er or IC bonder exceeds 70 Hz, allowing a position loop gain exceeding 70 (1/sec) for some
machines.
Therefore, although the response of the servo system (servo driver, motor, detectors, etc.)
is an important factor where good response is required, it is also important to improve the A
rigidity of the mechanical system.
4. In cases where the position loop response is greater than the speed loop response and linear
acceleration or deceleration is attempted, the poor speed loop response and follow-up
cause an accumulation of position loop errors and result in increased output of speed com-
mands from the position loop.
The motor moves faster and overshoots as a result of increased speed commands, and the
position loop tends to decrease the speed commands. However, the poor motor follow-up
due to the poor speed loop response results in oscillating speed commands, as shown in
the diagram below.
If this problem occurs, reduce the position loop gain or increase the speed loop gain to
eliminate the speed command oscillations.
Speed
Actual speed
Targeted speed pattern
Time
Figure A.2 Behavior with Unbalanced Position Loop Gain and Speed Loop Gain
A-3
Servo Adjustment
A.2.1 Adjusting Using Auto-tuning
A.2 Adjusting a Position-control SERVOPACK
This section gives examples of adjusting the gains of a position-control SERVOPACK manually
and using auto-tuning.
A.2.1 Adjusting Using Auto-tuning

A
J Important Points About Auto-tuning
Speed During Auto-tuning

Auto-tuning may not function correctly if the speed is too low, so set the speed to approximate-
ly 500 r/min. Speed is set with the parameter Cn-22 (fourth feed speed).
IMPORTANT If fourth feed speed is used in normal operation, do not forget to restore the original settings after auto-tuning.
Selecting Machine Rigidity

If the machine rigidity is unknown, select the rigidity according to the following standards.
Drive Method Machine Rigidity
Ball screw, direct 3 (C-003) to 7 (C-007)
Ball screw, with gears 2 (C-002) to 3 (C-003)
Timing belt 1 (C-001) to 3 (C-003)
Chain 1 (C-001) to 2 (C-002)
Wave gears* 1 (C-001) to 2 (C-002)
* Product name: Harmonic Drive
Select the machine rigidity level according to the table.
Level Rigidity
7 (C-007) High
6 (C-006) ⋮
5 (C-005) ⋮
4 (C-004) ⋮
3 (C-003) Medium
2 (C-002) ⋮
1 (C-001) Low
Auto-tuning may not end if high rigidity is selected for a low-rigidity machine or low rigidity
is selected for a high-rigidity machine.
If this occurs, halt the auto-tuning and change the machine rigidity selection.
A-4
J If Auto-tuning is Unsuccessful
Auto-tuning may be unsuccessful (the end of auto-tuning not displayed) for machines with
large play or extremely low rigidity.
Similarly, auto-tuning may be unsuccessful for a machine with high load inertia (exceeding
15 to 30 times the motor moment of inertia).
In these cases, use conventional manual adjustment.
Even if auto-tuning is successful for a machine with large fluctuations in load inertia or load
torque, vibrations or noise may still occur in some positions. A
J Response During Operation is Unsatisfactory after Auto-tuning
Auto-tuning sets the gain and integration time constant with some safety margin (to avoid os-
cillations). This can result in long positioning times.
In particular, the target position may not be reached if low response is selected, because the
machine does not move in response to the final minute commands. An excessively high setting
of the integration time constant (Cn-05) during auto-tuning is one cause of this problem.
If response is slow, the speed loop gain cannot be manually increased very much after auto-tun-
ing, because increasing the gain causes oscillation.
In this case, manually reduce the integration time constant while observing the machine behav-
ior to ensure oscillation does not occur.
Auto-tuning does not set the torque command filter (Cn-17).
A.2.2 Adjusting Manually
J Parameters
The role of each parameter is briefly described below.
Speed Loop Gain (Cn-04)

This parameter sets the speed loop response.
The response is improved by setting this parameter to the maximum value in the range which
does not cause vibrations in the mechanical system.
The following formula relates the speed loop gain to the load inertia.
Speed Loop Gain Kv [Hz] = 2 × (Cn-04 Preset value)

GD L 2
+1
GD M 2
GDL2: Motor Axis Converted Load Inertia

GDM2: Motor Moment of Inertia
A-5
Servo Adjustment
A.2.2 Adjusting Manually
Speed Loop Integration Time Constant (Cn-05)

The speed loop has an integration element to allow response to micro-inputs.
This integration element can produce a delay in the servo system, and the positioning setting
time increases and response becomes slower as the time constant increases.
However, the integration time constant must be increased to prevent machine vibration if the
load inertia is large or the mechanical system includes a vibration elements.
The following formula calculates a guideline value.
A Ti ≥ 2.3 × 1
2π × Kv
Ti: Integration Time Constant (sec)

Kv: Speed Loop Gain (Hz)
Torque Command Filter Time Constant (Cn-17)

When a ball screw is used, torsional resonance may occur which increases the pitch of the
vibration noise.
These vibrations can sometimes be overcome by increasing the torque command filter time
constant.
However, this filter can produce a delay in the servo system, as is the integration time constant,
and its value should not be increased more than necessary.
Position Loop Gain (Cn-1A)

The position loop gain parameter determines the servo system response.
The higher the position loop gain is set, the better the response and shorter the positioning
times.
To enable a high setting of the position loop gain, increase the machine rigidity and raise the
machine characteristic frequency.
Increasing the position loop gain only to improve the response can result in oscillating response
of the overall servo system, that is, the speed commands output from the position loop oscillate.
Therefore, also increase the speed loop gain while observing the response.
J Adjustment Procedure
1. Set the position loop gain (Cn-1A) to a low value and increase the speed loop gain (Cn-04)
within the range that no abnormal noise or oscillation occurs.
2. Slightly reduce the speed loop gain from the value at step 1, and increase the position loop
gain in the range that no overshooting or vibration occurs.
3. Determine the speed loop integration time constant (Cn-05), by observing the positioning
set time and vibrations in the mechanical system.
The positioning set time may become excessive if the speed loop integration time constant
(Cn-05) is too large.
4. It is not necessary to change the torque command filter time constant (Cn-17) unless tor-
sional resonance occurs in the machine shafts.
Torsional resonance may be indicated by a high vibration noise from the machine system.
Adjust the torque command filter time constant to reduce the vibration noise.
5. Finally, fine adjustment of the position gain, speed gain, and integration time constant is
required to determine the optimum point for step response, etc.
A-6
J Functions to Improve Response

The mode switch, feed-forward, and bias functions improve response.
However, they are not certain to improve response and may even worsen it in some cases. Fol-
low the points outlined below and observe the actual response while making adjustments.
Mode Switch
The mode switch improves the transition characteristics when the torque commands become
saturated during acceleration or deceleration.
A
Above the set level, the speed loop control switches from PI (proportional/integral) control to
P (proportional) control.
Feed-forward Function
Use feed-forward to improve the response speed. However, feed-forward may be ineffective
in systems where the value of position loop gain is sufficiently high.
Follow the procedure below to adjust the feed-forward amount (Cn-1D).
1. Adjust the speed loop and position loop, as described above.

2. Gradually increase the feed-forward amount (Cn-1D), such that the positioning complete
(/POS1) signal is output early.
At this point, ensure that the positioning complete (/POS1) signal does not brake up (alter-
nately does not turn ON/OFF) and that the speed does not overshoot. These problems can
arise if the feed-forward is set too high.
Bias Function
When the lag pulses in the error counter exceeds the positioning complete width (Cn-1B), the
bias amount (Cn-1C) is added to the error counter output (speed command). If the lag pulses
in the error counter lies within the positioning complete width (Cn-1B), the bias amount
(Cn-1C) is no longer added.
This reduces the number of pulses in the error counter and shortens the positioning time.
The motor speed becomes unstable if the bias amount is too large.
Observe the response during adjustment as the optimum value depends on the load, gain, and
positioning complete width.
Set Cn-1C to zero (0) when the bias is not used.
Speed
Motor Speed with No Bias
Speed Command Motor Speed with Bias
Time
A-7
Servo Adjustment
A.3.1 Guidelines for Gain Settings According to Load Inertia Ratio
A.3 Gain Setting References
This section presents tables of load inertia values for reference when adjusting the gain.
A Adjustment guidelines are given below according to the rigidity of the mechanical system and
load inertia. Use these values as guidelines when adjusting according to the procedures de-
scribed above.
These values are given as guidelines only. Oscillations and poor response may occur inside the
specified value ranges. Observe the response (waveform) to optimize the adjustment.
Higher gains are possible for machines with high rigidity.
J Machines with High Rigidity

Ball Screw, Direct Drive Machines
Example: Chip mounter, IC bonder, precision machine tools
Load/Inertia Ratio Position Loop Speed Loop Gain Speed Loop Integration
(GDL2/GDM2) Gain (Cn-1A) [1/s] (Cn-04) Time Constant
(Cn-05) [ms]
1× 50 to 70 50 to 70 5 to 20
3× 100 to 140 * Slightly increase this value

for inertia ratio of 20 ×, or
5× 150 to 200 greater.
10 × 270 to 380
15 × 400 to 560
20 × 500 to 730
30 × 700 to 1100
Note: For an inertia ratio of 10 ×, or greater, set the position loop gain and speed loop gain to
slightly lower values than the values shown and set the speed loop integration time
constant to a higher value before starting the adjustment.
As the inertia ratio increases, set the position loop gain and speed loop gain to the lower
limit of the range of values specified. Conversely, increase the speed loop integration time
constant.
A-8
A.3 Gain Setting References
J Machines with Medium Rigidity

Machines driven by ball screw through gears, or machines directly driven by long ball screws.
Example: General machine tools, orthogonal robots, conveyors
(GDL2/GDM2) Gain (Cn-1A) [1/s] (Cn-04) Time Constant (Cn-05)
[ms]
1× 30 to 50 30 to 50 10 to 40
A
10 × 160 to 270
15 × 240 to 400
20 × 310 to 520
30 × 450 to 770
constant.
J Machines with Low Rigidity

Machines driven by timing belts, chains or wave gears (product name: Harmonic Drive).
Example: Conveyors, articulated robots
(GDL2/GDM2) Gain (Cn-1A) [1/s] (Cn-04) Time Constant (Cn-05)
[ms]
1× 10 to 20 10 to 20 50 to 120

10 × 50 to 110
15 × 80 to 160
20 × 100 to 210
30 × 150 to 310
constant.
A-9
Servo Adjustment
The position loop gain Kp is determined from the following relationship.
V
K P = ÁS
KP [1/s]: Position loop gain
VS [PPS]: Steady speed command
ε: (pulse): Steady error (The number of pulses in the error counter at steady speed.)
A-10
B
List of I/O Signals B
This appendix lists the I/O signal terminals (connectors 1CN, 3CN, and
6CN) which are used to connect a SERVOPACK to a host controller or ex-
ternal circuit.
IMPORTANT 1. Refer to Chapter 3 Advanced Use for details on how to use I/O signals.
2. The functions of I/O signal terminals differ according to the memory switch and parameter settings.
B-1
List of I/O Signals
J List of 1CN I/O Signals

According to parameter settings, the specifications of some signal terminals on connector 1CN
vary.
1CN Symbol Signal Name 1CN Symbol Signal Name

Terminal Terminal
Number Number
1 − 19 /TGON− Rotation detection output *3
2 SG Signal ground 20 /S-RDY+ Servo ready output *3
3 PULS Command pulse, line PG pulse *1 21 /S-RDY−
B 4 /PULS
Phase-A input
22 ALM+ Servo alarm output
5 SG Signal ground 23 ALM−
6 SIGN Command pulse, line PG pulse *1 24 PAO PG division output Phase A

Phase-B or sign input
7 /SIGN 25 /PAO
8 − 26 PBO PG division output Phase B
9 /CC Line PG machine zero point pulse 27 /PBO

input
10 CC 28 /S-ON Servo ON input
11 TMON Torque monitor output *2 29 /P-CON Proportional control command

input
12 VTG Speed monitor output *2
30 P-OT Forward drive prohibited input
13 −
31 N-OT Reverse drive prohibited input
14 PCO PG division output Phase C
32 STP Machine zero point return limit
15 /PCO switch input
16 /BK+ Brake interlock output *3 33 /P-CL Forward torque limit input
17 /BK− 34 /N-CL Reverse torque limit input
18 /TGON+ Rotation detection output *3 35 +24 V 24 V external power supply input
36 −
* 1. Specification changes according to bit E of Cn-33 and bits 3, 4, and 5 of Cn-02. Refer to Line PG and Pulse Input Terminals
(page B-3) or Appendix C.
* 2. Specification changes according to bits 6 and 7 of Cn-02. Refer to Analog Monitor Signals (page B-3).
* 3. Specification changes according to setting of Cn-2D. Refer to Appendix C (page C-11).
B-2
Line PG and Pulse Input Terminals
Table B.1. Using Line PG (Cannot be Used with Pulse Operation Mode)
Specifications − Two-phase Pulse Feed-back with

90_ Phase Difference
Setting Bit 5, 4, 3 of Cn-02=0, Bit 5, 4 of Cn-02=0, Bits 5, 4, 3 of Cn-02

1CN Bit E of Cn-33=1* Bit 3 of Cn-02=1, = 0, 1, 0 (× 1)
Bit E of Cn-33=1* = 0, 1, 1 (× 2)
Terminal
= 1, 0, 0 (× 4)
Number
Bit E of Cn-33 = 1
3 PULS Not used PULS Not used PULS Feed-back pulse Phase-A
input
4 /PULS /PULS /PULS
B
6 SIGN SIGN SIGN Feed-back pulse Phase-B
input
7 /SIGN /SIGN /SIGN
* Do not set these combinations.
Table B.2. Pulse Operation Mode (Cannot be Used with Line PG Mode)
Specifications Sign + Pulse Train Input CCW Pulse + CW Pulse Two-phase Pulse Command with
Command Command 90_ Phase Difference
Setting Bit 5, 4, 3 of Cn-02=0, Bit 5, 4 of Cn-02=0, Bits 5, 4, 3 of Cn-02

Bit E of Cn-33=0 Bit 3 of Cn-02=0, = 0, 1, 0 (× 1)
1CN Bit E of Cn-33=0 = 0, 1, 1 (× 2)
Terminal = 1, 0, 0 (× 4)
Number Bit E of Cn-33 = 0
3 PULS Command pulse input PULS Forward command pulse PULS Phase-A command pulse
input (CCW) input
4 /PULS /PULS /PULS
6 SIGN Command sign input SIGN Reverse command pulse SIGN Phase-B command pulse
input (CW) input
7 /SIGN /SIGN /SIGN
Table B.3. Analog Monitor Signals
Setting Bit 6 of Cn-02 = 0 Bit 6 of Cn-02 = 1
1CN Terminal Number
11 TRQ-M Torque monitor TRQ-M Command speed monitor
Setting Bit 7 of Cn-02 = 0 Bit 7 of Cn-02 = 1
1CN Terminal Number
11 VTG-M Speed monitor VTG-M Position error monitor
B-3
List of I/O Signals
3CN Terminal Symbol Signal Name Signal Direction

Number
1 TXD SERVOPACK transmission data (straight) SERVOPACK →
2 /TXD SERVOPACK transmission data (inverted) SERVOPACK →
3 RXD SERVOPACK reception data (straight) SERVOPACK ←
4 /RXD SERVOPACK reception data (inverted) SERVOPACK ←
5 OPH Digital Operator dedicated signal −
B 6 /RXD Shorting between pins 6 and 7inserts a 220 Ω terminating resistor be-
tween RXD and /RXD.
/RXD
7 RT
8 5VPP Digital Operator dedicated signal −
9 GND 0 V for signal −
B-4
The usage of the signal terminals on connector 6CN differs according to the command mode
that has been set.
Table B.4. Station Number Command Method (Cn-27 = 0)

Terminal Terminal
Number Number
1 0V1 0 V input 1 26 0V2 0 V input 2
2 /AUT-LT Automatic operation mode output 27 /ERR Command error output
3 /MAN-LT Manual operation mode output 28 /P0 Current station position output (1) B
4 /POS1 Positioning completed output (COIN) 29 /P1 Current station position output (2)
5 /POS2 Positioning near output (NEAR) 30 /P2 Current station position output (3)
6 /AL0 Alarm code output (1) 31 /P3 Current station position output (4)
7 /AL1 Alarm code output (2) 32 /P4 Current station position output (5)
8 /AL2 Alarm code output (4) 33 /CD0 Command data input (0)
9 /AL3 Alarm code output (8) 34 /CD1 Command data input (1)
10 − 35 /CD2 Command data input (2)
13 /ZRN Machine zero point return mode setting 38 /CD5 Command data input (5)
input
39 /CD6 Command data input (6)
14 /MAN Manual operation mode setting input
15 /PULS Pulse operation mode setting input
16 /MCW Manual operation input (reverse)
17 /MCCW Manual operation input (forward)
18 /RST Reset input
19 /SP2ND Speed selection code input 2
45 /DR0 Rotating direction select input 1
20 /SP3RD Speed selection code input 3
46 /DR1 Rotating direction select input 2
21 /LPG Line PG selection input
47 /PS0 Station number read select input 0
22 /AST Start command input
48 /PS1 Station number read select input 1
23 /ALMRST Alarm reset input
49 +24V2 +24 V input 2
24 /STOP Pause input
50 −
25 +24V1 +24 V input 1
B-5
List of I/O Signals
Table B.5. Digital Switch Command Method (Cn-27 = 1)

Terminal Terminal
Number Number
1 0V1 0 V input 1 26 0V2 0 V input 2
3 /MAN-LT Manual operation mode output 28 /DSO0 Data strobe output (0)
4 /POS1 Positioning completed output (COIN) 29 /DSO1 Data strobe output (1)
5 /POS2 Positioning near output (NEAR) 30 /DSO2 Data strobe output (2)
B 6 /AL0 Alarm code output (1) 31 /DSO3 Data strobe output (3)
7 /AL1 Alarm code output (2) 32 /DSO4 Data strobe output (4)
8 /AL2 Alarm code output (4) 33 /DSI10 Position data input (0)
9 /AL3 Alarm code output (8) 34 /DSI11 Position data input (1)
10 − 35 /DSI12 Position data input (2)
13 /ZRN Machine zero point return mode setting 38 /DSI15 Position data input (5)
input
39 /DSI16 Position data input (6)
40 /DSI17 Position data input (7)
41 /DSI20 Speed data input (0)
16 /MCW Manual operation input (Reverse)
17 /MCCW Manual operation input (Forward)
18 /RST Reset input
49 +24V2 +24 V input 2
24 STOP Pause input
50 −
25 +24V1 +24 V input 1
B-6
Table B.6. Serial Communications Method (Cn-27 = 2)

Terminal Terminal
Number Number
1 0V1 0 V input 1 26 0V2 0 V input 2
3 /MAN-LT Manual operation mode output 28 −
4 /POS1 Positioning completed output (COIN) 29 −
5 /POS2 Positioning near output (NEAR) 30 −
6 /AL0 Alarm code output (1) 31 − B

7 /AL1 Alarm code output (2) 32 −
10 − 35 −
11 − 36 −
12 − 37 −
13 /ZRN Machine Zero point return mode setting 38 −

input
39 −
40 −
41 −
42 −
43 −
18 /RST Reset input
44 −
45 −
46 −
47 −
48 −
49 +24V2 +24 V input 2
24 STOP Pause input
50 −
25 +24V1 +24 V input 1
B-7
List of I/O Signals
Table B.7. Command Table Method (Cn-27 = 4)

Terminal Terminal
Number Number
1 0V1 0 V input 1 26 0V2 0 V input 2
3 /MAN-LT Manual operation mode output 28 /P0 Zone signal output (1)
4 /POS1 Positioning completed output (COIN) 29 /P1 Zone signal output (2)
5 /POS2 Positioning near output (NEAR) 30 /P2 Zone signal output (3)
B 6 /AL0 Alarm code output (1) 31 /P3 Zone signal output (4)
7 /AL1 Alarm code output (2) 32 /P4 Zone signal output (5)
8 /AL2 Alarm code output (4) 33 /CD0 Position number data input (0)
9 /AL3 Alarm code output (8) 34 /CD1 Position number data input (1)
10 − 35 /CD2 Position number data input (2)
13 /ZRN Machine Zero point return mode setting 38 /CD5 Position number data input (5)
input
39 /CD6 Position number data input (6)
42 −
43 −
18 /RST Reset input
44 −
45 −
46 −
47 /PS0 Zone signal read selection input 0
48 /PS1 Zone signal read selection input 1
49 +24V2 +24 V input 2
24 STOP Pause input
50 −
25 +24V1 +24 V input 1
B-8
C
List of Parameters
C
Σ-Series SERVOPACKs provide many functions, and have parameters to
allow the user to select each function and perform fine adjustment. This
appendix lists these parameters.
Parameters are divided into the following two types:
Memory switches Each bit of this switch is turned ON or OFF to select a function.
Cn-01, Cn-02, Cn-26,
Cn-29, Cn-32, Cn-33,
Cn-39
Parameter settings other A numerical value such as a torque limit value or speed loop gain is set
than those above in this parameter.
IMPORTANT 1. Refer to Chapter 3 Advanced Use for details on how to use parameters.
2. For details on how to set parameters, refer to 5.1.6 Parameter Setting Mode.
C-1
List of Parameters
Table C.1. List of Parameters (Parameter Settings)
Parameter Name Unit Lower Upper Factory Remarks

No. Limit Limit Setting
Cn-00 Not a parameter (Used to select special mode of Digital Operator)
Cn-01 Memory Switch (See page C-5)*1
Cn-02 Memory Switch (See page C-7) (Off-line setting except for bits 6, 7, and E)*1
Cn-03 Speed limit × 1000 command 1 240000 10000

units/min.
Cn-04 Speed loop gain Hz 1 4000 80 *2
Cn-05 Speed loop integration time constant × 0.01 ms 200 51200 2000 *2
Cn-06 Forward rotation stored stroke limit Command unit −99999999 +99999999 +99999999 *1
C Cn-07 Reverse rotation stored stroke limit Command unit −99999999 +99999999 −99999999 *1
Cn-08 Forward torque limit % 0 800 800
Cn-09 Reverse torque limit % 0 800 800
Cn-0A PG dividing pulse number P/R 16 32768 8192 *1
Cn-0B Zero-speed level r/min 1 10000 20
Cn-0C Mode switch (See page C-8)
Cn-0D Backlash compensation Pulse −30000 +30000 0
Cn-0E Reserved 0
Cn-0F Reserved 0
Cn-10 Torque limit % 0 800 800
Cn-11 Number of encoder pulses P/R 513 32768 8192 *1
Cn-12 Base block waiting time × 10 ms 0 50 0
Cn-13 Group designation number 1 9 1 *1
Cn-14 Absolute encoder allowable error Pulse 0 20000000 8192 *1
Cn-15 Brake waiting speed r/min 0 500 100
Cn-16 Brake waiting time × 10 ms 10 100 50
Cn-17 Torque command filter time constant × 0.1 ms 0 250 6.0 kW or

less: 4
7.5 kW: 8
11.0 to
15.0 kW: 16
Cn-18 Feed speed setting method (See page C-8) 00 44 22
C-2
Cn-19 S-curve acceleration/deceleration ms 0 1000 0

time
Cn-1A Position loop gain 1/s 1 1000 40 *2
Cn-1B Positioning completed range Command unit 0 250 7
Cn-1C Bias r/min 0 450 0
Cn-1D Feed forward gain % 0 100 0
Cn-1E Overflow level × 256 command 1 32767 1024

units
Cn-1F 1st feed speed × 1000 command 1 240000 500

units/min.
C
Cn-20 2nd feed speed × 1000 command 1 240000 100
units/min.
Cn-21 3rd feed speed × 1000 command 1 240000 200

units/min.
Cn-22 4th feed speed × 1000 command 1 240000 300

units/min.
Cn-23 Command units per machine revolu- Command unit 1 1500000 32768 *1
tion
Cn-24 Electronic gear (numerator) 1 65535 4 *1
Cn-25 Electronic gear (denominator) 1 65535 1 *1
Cn-26 Command coordinate mode (See page C-9) *1
Cn-27 Position command method (See page C-9) 0 4 2 *1
Cn-28 Station number 1 4096 1 *1
Cn-29 Zero point return mode (See page C-10) *1
Cn-2A Motor selection (See page C-10) 0 254 Varies *1

according to
capacity
Cn-2B Positioning near range Command unit 0 3000 20
Cn-2C PG power supply voltage × 0.1 mV 52000 58000 52500
Cn-2D Output signal selection (See page C-11) 111 666 214 *1
Cn-2E Machine zero point return feed speed × 1000 command 1 240000 200
units/min.
Cn-2F Machine zero point return approach × 1000 command 1 240000 100
speed units/min.
C-3
List of Parameters

Cn-30 Machine zero point return creep × 1000 command 1 240000 50

speed units/min.
Cn-31 Machine zero point return final Command unit −99999999 +99999999 8192
distance traveled
Cn-32 Function selection 1 (See page C-12) *1
Cn-33 Function selection 2 (See page C-13) *1
Cn-34 Position loop gain 2 1/s 1 1000 40
Cn-35 Position loop gain changeover point Command unit 0 10000 0
Cn-36 Speed loop gain 2 Hz 1 4000 80
C Cn-37 Speed loop gain changeover point Command unit 0 10000 0
Cn-38 Digital switch read scan time ms 12 2000 12 *1
Cn-39 Acceleration/deceleration type setting (See page C-15) (Off-line setting except for bits 8, A, C, and E)*1
Cn-3A Linear acceleration/deceleration time ms 8 60000 100

1
Cn-3B Linear acceleration/deceleration time ms 8 60000 100

2
Cn-3C Linear acceleration/deceleration × 1000 command 0 240000 10000

switching speed units/min.
Cn-3D Exponentialacceleration/deceleration ms 8 1000 100

time constant
Cn-3E Exponentialacceleration/deceleration × 1000 command 0 240000 0

bias speed units/min.
Cn-3F Decimal point position and digit 0 7 0 *1

number shift
Note: Parameters in must be set and checked before turning ON the motor.
* 1. Changes to this setting become valid after turning OFF and then ON the power.
* 2. Set automatically by the auto-tuning function.
C-4
Table C.2. List of Parameters (Memory Switch Settings) Cn-01
Function Parameter Bit No. Setting Factory

No. Setting
Input signal en- Cn-01 0 0 1 0

able/disable
Uses servo ON input (/S-ON). Does not use Servo ON signal (/S-
ON). Servo is always ON.
1 Reserved: Setting = 0 (Do not change this setting.) 0
2 0 1 0
Uses forward rotation prohibited Does not use forward rotation pro-
input (P-OT). hibited input (P-OT). Forward
rotation is always possible.
3 0 1 0
Uses reverse rotation prohibited Does not use reverse rotation pro-
C
input (N-OT). hibit input (N-OT). Reverse rota-
tion is always possible.
Reserved 4 Reserved: Setting = 0 (Do not change this setting.) 0
Processing 5 0 1 0
performed at
recovery from After recovery from power loss, After recovery from power loss,
power loss does not activate Servo alarm. activates Servo alarm.
Sequence 6 0 1 0
selection
at abnormal stop At base block, stops motor with At base block, allows the motor to
dynamic brake (DB). coast to a stop.
7 0 1 *1
At base block, stops motor with At base block, stops motor with
dynamic brake (DB) then releases dynamic brake (DB) then does not
brake. release brake.
8 0 1 0
When overtravel is detected When overtravel is detected

(P-OT, N-OT), stops the motor us- (P-OT, N-OT), decelerates the
ing the method determined by bit motor to a stop using maximum
6. torque.
9 0 1 0
When overtravel is detected When overtravel is detected

(P-OT, N-OT), decelerates the (P-OT, N-OT), decelerates the
motor to a stop using maximum motor to a stop using maximum
torque, then turns OFF the servo. torque, then executes zero-clamp.
C-5
List of Parameters

No. Setting
Process selection Cn-01 A 0 1 0

at Servo OFF
Clears error pulse at servo OFF. Does not clear error pulse at servo
OFF.
Mode switch B 0 1 0
selection
Uses mode switch function. Based Does not use mode switch func-
on the settings in Cn-01 bits D tion.
and C.
D, C 0, 0 0, 1 1, 0 1, 1 0, 0
Uses internal Uses speed Uses accelera- Uses error pulse

torque com- command as a tion as a condi- as a condition.
C mand as a
condition.
condition. tion.
(Level setting:
(Level setting: (Level setting: Cn-0E)
(Level setting: Cn-0D) Cn-0E)
Cn-0C)
Encoder selection E 0 1 0
Uses incremental encoder. Uses absolute encoder.
Reserved F Reserved: Setting = 0 (Do not change this setting.) 0
Note: : Parameters in must be set and checked before turning ON the motor.
* 1. 1.5 kW or less: 1;2.0 kW or more: 0
IMPORTANT Changes to Cn-01 memory switch settings become valid after turning OFF and then ON the power.
C-6
Table C.3. List of Parameters (Memory Switch Settings) Cn-02

No. Setting
Rotating direction Cn-02 0 0 1 0

select
Defines counterclockwise (CCW) rota- Defines clockwise (CW)
tion as forward rotation. rotation as forward rota-
tion. (Reverse rotation
mode)
Motor zero point er- 1 0 1 0

ror processing selec
selec-
tion Detects motor zero point error Does not detect motor
zero point error.
Analog speed limit 2 Reserved: Setting = 0 (Do not change this setting.) 0
function
Command or line PG 5, 4, 3 0, 0, 0 0, 0, 1 0, 1, 0 0, 1, 1 1, 0, 0 0, 0, 0
C
pulse form
Sign + CW + Phase A + Phase A + Phase A +
Pulse CCW phase B phase B phase B
(× 1) (× 2) (× 4)
Analog monitor 6 0 1 0
selection
Outputs torque command to TRQ-M. Outputs speed command
to TRQ-M.
7 0 1 0
Outputs present speed to VTG-M. Outputs position error to

VTG-M.
Reserved A Reserved: Setting = 0 (Do not change this setting.) 0
Reserved B Reserved: Setting = 0 (Do not change this setting.) 0
Torque filter C 0 1 *
Uses torque filter as primary filter. Uses torque filter as sec-

ondary filter.
Input pulse form D 0 1 0
Does not invert input pulse logic. Inverts input pulse logic.
C-7
List of Parameters

No. Setting
Position error Cn-02 E 0 1 0

monitor unit
Displays position error as ×1 command Displays position error as
units for analog monitor. × 100 command units for
analog monitor.
* 5 kW or less: 0; 6.0 kW or less: 1
IMPORTANT Changes to Cn-01 memory switch settings become valid after turning OFF and then ON the power.
However, bits 6, 7, and E become valid immediately after setting.
C J Mode Switch Changeover Level (Cn-0C) Settings

Sets the mode switch changeover level. The setting range and units vary according to the set-
tings of the mode switch changeover conditions (bits C and D of memory switch Cn-01).
Mode Switch Changeover Conditions Unit Lower Limit Upper Limit

(Cn-01 bits D,C)
According to torque command (0,0) % 0 800
According to speed command (0,1) r/min 0 10000
According to acceleration (1,0) × 10 r/min/s 0 3000
According to error pulse (1,1) Command unit 0 10000
J Feed Speed Setting Method (Cn-18) Settings
1’s digit Feed speed setting method in automatic operation mode
10’s digit Feed speed setting method in manual operation mode
Setting Function
0 Selected from parameters through contact inputs
1 Digital switches
2 Serial communications
4 Speed table
C-8
J Command Coordinate Mode (Cn-26) Settings
Function Bit No. Setting Factory

Setting
External position 0 0 1 0
indicator display mode
Displays the Displays the value accumulated 0
present from the start of automatic opera-
position. tion.
Finite/Infinite length 1 0 1 0
mode selection
Finite length Infinite length
Linear/Rotary mode 2 0 1 0
selection
Linear Rotary
Position command 3 0 1 0 C
method
Absolute Incremental
Position data code of sta- 4 0 1 0

tion number and digital
switch command mode Binary BCD
Reserved 5 to F Reserved: Setting = 0 (Do not change this setting.) 0
J Position Command Method (Cn-27) Settings
Setting Function
0 Station numbers
1 Digital switches
2 Serial communications
4 Command table
C-9
List of Parameters
J Zero point Return Mode (Cn-29) Settings

Setting
Zero point return 0 0 1 0
Does not use. Uses.
Zero point return 3, 2 0, 0 0, 1 1, 1 0, 1

mode setting
Mode I Mode II Mode III
Zero point return 4 0 1 0

method
Positive direction Negative direction
C Reserved 5 to F Reserved: Setting = 0 (Do not change this setting.) 0
J Motor Selection (Cn-2A) Settings
SERVOPACK Model Applicable Motor Model Cn-2A Factory Setting
SGDB-05AM SGMG-03AjB 171 142
SGM-04A 106
SGMP-04A 126
SGMG-05AjA 142
SGM-08A 107
SGMP-08A 127
SGMG-09AjA 143
SGMG-09AjB 173
SGMS-10AjA 163
SGMG-13AjA 144
SGMP-15A 128
SGMS-15AjA 164
SGDB-20AM SGMG-20AjA 145 145
SGMG-20AjB 175
SGMS-20AjA 165
C-10
SERVOPACK Model Applicable Motor Model Cn-2A Factory Setting
SGDB-30AM SGMD-22AjA 155 146
SGMG-30AjA 146
SGMG-30AjB 176
SGMS-30AjA 166
SGDB-50AM SGMD-32AjA 156 147
SGMG-44AjA 147
SGMG-44AjB 177
SGMS-40AjA 167
SGMD-40AjA 157
SGMS-50AjA 168
C
SGMG-60AjB 178
SGDB-1AAM SGMG-1AAjA 140 140
SGDB-1EAM SGMG-1EAjA 150 150
J Output Signal Selection (Cn-2D) Settings
Selects which function signal to output at 1CN.
1’s digit Selects function of 1CN-16, 17 (/BK)
10’s digit Selects function of 1CN-18, 19 (/TGON)
100’s digit Selects function of 1CN 20, 21 (/S-RDY)
Setting Function
1 /TGON
2 /S-RDY
3 /CLT
4 /BK
5 OL warning
6 OL alarm
C-11
List of Parameters
J Function Selection 1 (Cn-32) Settings

Setting
Reserved 0 to 1 Reserved: Setting = 0 (Do not change this setting.) 0
Change in speed 2 0 1 0
command during
automatic operation Does not use. Uses.
Soft limit switch 4 0 1 0
Does not set. Sets.
Speed command 5 0 1 0
C (automatic operation)
Sets using same method Sets using different
as position command. method from position
command.
Speed command 6 0 1 0
(manual operation)
Sets using same method Sets using different
as position command. method from position
command.
FB when positioning 7 0 1 0
stopped
Motor PG only According to /LPG
contact
Serial communications 8 0 1 0
group
Does not set. Sets.
Addition of axis address 9 0 1 0

to serial response
Does not add. Adds.
Echo back when power A 0 1 0

turned ON
Does not use. Uses.
“OK” response to B 0 1 0
commands
Uses. Does not use.
Continuous monitor C 0 1 0
transmission
Does not use. (Sends Uses.
once only.)
Variable position loop D 0 1 0

gain
Does not use. Uses.
C-12
Setting
Variable speed loop gain E 0 1 0
Does not use. Uses.
External positioning F 0 1 0
function
Does not use. Uses.
J Function Selection 2 (Cn-33) Settings
Function Bit Setting Factory

No. Setting
STOP signal 0 0 1 0
C
Uses. Does not use.
Remaining 1 0 1 0
data after
STOP signal Keeps. Discards.
Station 3 0 1 0
number 0
number.
Uses. Does not use.
Station near 4 0 1 0
signal
Does not use. Uses.
Station 5 0 1 0
number out-
put expansion Does not use. Uses.
Pulse input 7 0 1 0
Does not use. Uses.
OT signal 8 0 1 0
switching
Standard Reverses P-OT signal and
N-OT signal.
External 9 0 1 0
position
indicator Does not use. Uses.
Zone signal A 0 1 0
Does not use. Uses.
C-13
List of Parameters
Function Bit Setting Factory

No. Setting
/AST signal B 0 1 0 1 0
logic
C 0 0 1 1 0
Input logic H
L
Reserved D Reserved: Setting = 0 (Do not change this setting.) 0
Line PG E 0 1 0
Does not use. Uses.
C-14
J Acceleration/Deceleration Type (Cn-39) Settings

Setting
Acceleration/decelera- 0 0 1 0
tion designation
Does not use. Uses.
Linear acceleration/de- 1 0 1 0
celeration step number
Single-step Two-step
S-shaped acceleration/ 2 0 1 0
deceleration
Does not use. Uses.
Reserved 3 to 7 Reserved: Setting = 0 (Do not change this setting.) 0
Acceleration/decelera- 8 0 1 0 C
tion type of automatic
operation mode Linear, S-shaped Exponential
Acceleration/decelera- A 0 1 0
tion type of manual op-
eration mode Linear, S-shaped Exponential
Reserved B Reserved: Setting = 0 (Do not change this setting.) 0
Acceleration/decelera- C 0 1 0
tion type of pulse
operation mode Linear, S-shaped Exponential
Reserved D Reserved: Setting = 0 (Do not change this setting.) 0
Acceleration/decelera- E 0 1 0
tion type of machine
zero point return mode Linear, S-shaped Exponential
C-15
D
List of Alarm Displays
SGDB SERVOPACK allows up to 10 last alarms to be displayed at a Digi-

tal Operator. This function is called a trace-back function.
D
Alarm number Alarm display
This appendix provides the name and meaning of each alarm display.
For details on how to display an alarm, refer to the following section:

5.2.1 Operation in Alarm Trace-back Mode.
For the cause of each alarm and the action to be taken, refer to the follow-
ing section: 7.2.1 Troubleshooting Problems with Alarm Display.
D-1
Table D.1. Alarm and Error Displays
Serial Data Status Alarm Alarm Output /ERR Alarm or Meaning Remarks
(Transmitted (7-seg- Display Out- Error Name
only in ment LED on Alarm Code Output ALM put
Automatic
Display) Digital Out-
Transmission
Mode) Operator /AL0 /AL1 /AL2 /AL3 put
None This error This error OFF ON OFF ON ON ON Mode error Operation mode Only when
is not dis- is not dis- setting signal is motor is ON.
played on played on abnormal.
7-segment the Digital
LED. Operator. ON ON OFF ON ON ON Position error Position command Only when
data is abnormal motor is ON.
(non-existent sta-
tion, outside stored
stroke limit, etc.)
OFF OFF ON ON ON ON Speed error Command data ex- Only when

ceeded speed limit. motor is ON.
−. bb OFF OFF OFF OFF ON OFF Motor power Motor not −

interrupted receiving power.
D P-OT P. Pot OFF ON OFF OFF ON ON Forward

overtravel
Forward overtravel
limit switch
−
activated.
P-LS P. PLS OFF OFF ON OFF ON ON Forward Exceeded forward Valid in finite
rotation stored travel area. length mode.
stroke limit
N-OT n. not ON ON OFF OFF ON ON Reverse Reverse overtravel −

overtravel limit switch
activated.
N-LS n. nLS ON OFF ON OFF ON ON Reverse Exceeded reverse Valid in finite

rotation stored travel area. length mode.
stroke limit
ERRE1 E. − OFF ON ON ON ON ON Communica- Communications Only occurs in

tions error abnormality (parity fixed length
error, checksum mode.
error, etc.)
ERRE2 E. − OFF ON ON ON ON ON Command error Undefined Only occurs in

command sent. fixed length
mode.
Note: ON: Output transistor is ON

TERMS z Checksum
An automatic check function for a set of data such as parameters. It stores the sum of parameter data, recalculates
the sum at specific timing, and then checks whether the stored value matches the recalculated value. This function
is a simple method of checking whether a set of data is correct.
D-2
(
(Transmitted (7-seg-
(7 seg Display Out-
Out Error Name
only in ment on
Automatic Alarm Code Output ALM put
LED Dis- Digital Out-
Out
Transmission
Mode) play)
l ) O
Opera- put
tor /AL0 /AL1 /AL2 /AL3
ERRE3 E. − OFF ON ON ON ON ON Number error Input command number Only occurs in

out of allowable range. fixed length
mode.
ERRE4 E. − OFF ON ON ON ON ON Data error Command data out of Only occurs in

allowable range. fixed length
mode.
A.00 0. A.00 OFF OFF OFF OFF OFF OFF Absolute data Absolute data fails to be For absolute
alarm received, or received encoder only
absolute data is abnor-
mal.
A.02 0. A.02 OFF OFF OFF OFF OFF OFF Parameter Checksum results of −
breakdown parameters are
abnormal.
A.04 0. A.04 OFF OFF OFF OFF OFF OFF Parameter

setting alarm
The parameter
setting is out of the
−
D
allowable setting range.
A.10 1. A.10 ON OFF OFF OFF OFF OFF Overcurrent An overcurrent flowed −
through the power
transistor.
A.30 3. A.30 ON ON OFF OFF OFF OFF Regenerative Regenerative −

alarm circuit is abnormal.
A.40 4. A.40 OFF OFF ON OFF OFF OFF Main circuit Main circuit −
voltage alarm voltage is abnormal.
A.51 5. A.51 ON OFF ON OFF OFF OFF Overspeed Rotation speed of the Detection level =
motor has exceeded Maximum
detection level. rotation speed ×
1.1 or × 1.2
A.71 7. A.71 ON ON ON OFF OFF OFF Overload The motor was running −
(high load) for several seconds to
several tens of seconds
under a torque largely
exceeding ratings.
A.72 7. A.72 ON ON ON OFF OFF OFF Overload The motor was running −
(low load) continuously under a
torque exceeding
ratings.
A.7A 7. A.7A ON ON ON OFF OFF OFF Heat sink Heat sink of −

overheat SERVOPACK
overheated.

D-3
Automatic
Transmission
A.80 8. A.80 OFF OFF OFF ON OFF OFF Encoder zero The number of phase-A Also detected
point alarm and phase-B pulses when using
does not match the incremental
number of phase-C PG.
pulses.
A.81 8. A.81 OFF OFF OFF ON OFF OFF Absolute All three power supplies For 12 bit
encoder for the absolute encoder absolute
backup alarm (+5 V, battery and encoder only
internal capacitor) have
failed.
A.82 8. A.82 OFF OFF OFF ON OFF OFF Absolute The checksum results of For 12 bit
encoder absolute encoder absolute
checksum memory is abnormal. encoder only
alarm
A.83 8. A.83 OFF OFF OFF ON OFF OFF Absolute Battery voltage for the For 12 bit
D encoder battery absolute encoder is
alarm abnormal.(Detected by
absolute
encoder only
12-bit absolute encoder.)
Battery voltage Voltage of back-up −

drop alarm battery has dropped.
(Detected by
SERVOPACK.)
A.84 8. A.84 OFF OFF OFF ON OFF OFF Absolute Received absolute data For 12 bit
encoder data is abnormal. absolute
alarm encoder only
A.85 8. A.85 OFF OFF OFF ON OFF OFF Absolute The motor was For 12 bit
encoder running at a speed absolute
overspeed exceeding 400 r/min encoder only
when the absolute
encoder was turned ON.
A.B0 b. A.b0 ON ON OFF ON OFF OFF Hardware Hardware of Servo con- This alarm
alarm troller section may not be
malfunctioning. stored in alarm
trace-back
memory.
A.B2 b. A.b2 ON ON OFF ON OFF OFF CPU error 1 CPU of SERVOPACK *

malfunctioning
malfunctioning.
A.B3 b. A.b3 ON ON OFF ON OFF OFF CPU error 2

* Serial data (automatic transmission) and alarm output may be uncertain, and the 7-segment LED may display the symbol . In
such cases, either A.B2 or A.B3 will be stored in the alarm trace-back memory. (In the Digital Operator, “B2” and “B3” will be
displayed as “b2” and “b3.”)
D-4
Automatic
Transmission
A.C1 C. A.C1 OFF OFF ON ON OFF OFF Servo overrun The servomotor −
alarm (encoder) overran.
A.C2 C. A.C2 OFF OFF ON ON OFF OFF Encoder phase Phase -A, -B and -C For incremen-
error detection output by the tal encoder
alarm encoder are only.
abnormal.
A.C3 C. A.C3 OFF OFF ON ON OFF OFF Encoder Wiring in encoder −

phase-A, -B phase-A or -B is
disconnection disconnected.
A.C4 C. A.C4 OFF OFF ON ON OFF OFF Encoder Wiring in encoder −

phase-C phase-C is
disconnection disconnected.
A.D0 d. A.d0 ON OFF ON ON OFF OFF Position error Position error pulse −
pulse overflow has exceeded the
“Overflow”
parameter setting.
D
A.F1 F. A.F1 ON ON ON ON OFF OFF Power lines One phase is not −
open phase connected in the
detect main power supply.
A.F3 F. A.F3 ON ON ON ON OFF OFF Power loss error A power Only when bit
loss exceeding one 5 of Cn-01 set
cycle occurred in to 1
AC power supply.
− Undefined CPF00 Undefined OFF Unde- Digital Operator Digital Operator These alarms
fined transmission fails to communi- are not stored
error 1 cate with in alarm trace-
SERVOPACK even back memory.
five seconds after
power is turned ON.
− Undefined CPF01 Undefined OFF Unde- Digital Operator Transmission error

fined transmission has occurred five
error 2 consecutive times.
− −. or . A.99 OFF OFF OFF OFF ON OFF Not an alarm Normal operation −
status
Indeterminate Undefined OFF OFF OFF OFF OFF OFF Control board Control board −
or no transmis- alarm faulty.
sion

D-5
E
Supplementary Information on
SGDB-jjAMA SERVOPACKs
(Contact I/O with Reverse Common)
The SGDB-jjAMA source output uses +24 V common as contact input

and 0 V common as contact output, which is the reverse of the SGDB-
jjAM SERVOPACK described in this manual. This appendix explains
the differences between the SGDB-jjAMA and SGDB-jjAM SER-
E
VOPACKs.
E.1 List of I/O Signals . . . . . . . . . . . . . . . . . . . . . E-3

E.2 Lists of 6CN I/O Signals by
Command Mode . . . . . . . . . . . . . . . . . . . . . . E-5
E.3 Contact I/O Circuits . . . . . . . . . . . . . . . . . . . E - 12
E.4 Wiring Examples . . . . . . . . . . . . . . . . . . . . . E - 14
E-1
Supplementary Information on SGDB-jjAMA SERVOPACKs
Some SGDB-jjAMA terminals have identical specifications to those of the SGDB-jjAM

SERVOPACK. Other contact I/O and their common terminals are connected in the reverse order
of those of the SGDB-jjAM described in this manual.
For SGDB-jjAMA contacts, it is necessary to understand the explanation given for SGDB-
jjAM as shown below. For details, refer to the lists of signals.
Classifications in Explanation For SGDB-jjAM For SGDB-jjAMA

SGDB-jjAMA I/O
Signal List
Group of contact output Operation: ON state: ON state:

terminals for which the Since the polarity of the The circuit between X+ The circuit between X+
terminals of each con- contact I/O drive power and X− is closed, and and X− is closed, and
tact I/O are independent supply is reversed, the X+ is at low level. X− is at high level.
and there are no com-
com operating logic is
mon terminals (output reversed. OFF state: OFF state:
terminals X+, X−). The circuit between X+ The circuit between X+
and X− is open, and X+ and X− is open, and X−
is at high level. is at low level.
Signal name: Example: Example:

Since the operating log- /BK+ BK+
ic is reversed, the logic /BK− BK−
indicating the signal ALM+ /ALM+
E names is reversed. ALM− /ALM−
Group of contact I/O Operation: ON state: ON state:

terminals which have a Since the polarity of the X is at low level. X is at high level.
common terminal for contact I/O
/O drive power
p
each group. Common supply is reversed, the OFF state: OFF state:
terminal is Y (input or operating logic is X is at high level. X is at low level.
output terminal X,Y). reversed.
Signal name: Example: Example:

Since the operating log- /AUT-LT AUT-LT
ic is reversed, the logic /AL0 AL0
indicating the signal /S-ON S-ON
names is reversed. STP /STP
/CD0 CD0
The polarity of the
STOP /STOP
power supply con-
0V1 +24V1
nected to common ter-
+24V 0V
minals is reversed also.
Terminals not Signal names and functions are the same as those of model SGDB-jjAM.
mentioned above
E-2
E.1 List of I/O Signals
E.1 List of I/O Signals
Lists of SGDB-jjAMA I/O signals are provided below.
J List of SGDB-jjAMA 1CN I/O Signals
List of 1CN I/O Signals

According to parameter settings, the specifications of some signal terminals on connector 1CN
vary.
1CN Symbol Signal Name Relevant 1CN Symbol Signal Name Relevant
Terminal Circuit Terminal Circuit
No. Diagram No. Diagram
1 − − − 19 TGON+ Rotation detection output *3, *5 1CN output

circuit
2 SG Signal ground − 20 S-RDY+ Servo ready output *3, *5 1CN output

circuit
3 PULS Command pulse, line PG pulse − 21 S-RDY−
phase-A input*1
4 /PULS 22 /ALM+ Servo alarm output *5 1CN output
circuit
5 SG Signal ground − 23 /ALM−
6 SIGN Command pulse, line PG pulse − 24 PAO PG division output phase A − E

phase-B or sign input
7 /SIGN 25 /PAO
8 − − − 26 PBO PG division output phase B −
9 /CC Line PG machine zero point pulse − 27 /PBO

input
10 CC 28 S-ON Servo ON input *4 1CN input
circuit
11 TMON Torque monitor output *2 − 29 P-CON Proportional control command in- 1CN input
put *4 circuit
12 VTG Speed monitor output *2 − 30 /P-OT Forward drive prohibited input *4 1CN input
circuit
13 − − − 31 /N-OT Reverse drive prohibited input *4 1CN input

circuit
14 PCO PG division output phase C − 32 /STP Machine zero point return limit 1CN input
switch input *4 circuit
15 /PCO 33 P-CL Forward torque limit input *4 1CN input

circuit
16 BK+ Break interlock output *3, *5 1CN output 34 N-CL Reverse torque limit input *4 1CN input
circuit circuit
17 BK− 35 0V 0 V external power supply input *4 1CN input

circuit
18 TGON+ Rotation detection output *3, *5 1CN output 36 − − −

circuit
* 1. Specification changes according to bit E of Cn-33 and bits 3, 4, and 5 of Cn-02. Refer to Line
PG and Pulse Input Terminals (page B-4), or Appendix C.
E-3
* 2. Specification changes according to bits 6 and 7 of Cn-02. Refer to specifications stated in

Analog Monitor Signals (page B-4).
* 3. Specification changes according to setting of Cn-2D. Refer to Appendix C (page C-11).
* 4. For the SGDB-jjAMA, understand the explanation given in the SGDB-jjAM manual
as follows:
SGDB-jjAM SGDB-jjAMA
Input terminal X, ON state: ON state:

common terminal Y X is at low level. X is at high level.
OFF state: OFF state:

X is at high level. X is at low level.
Example: Example:
/AUT-LT, /AL0, /S-ON, STP, AUT-LT, AL0, S-ON, /STP,
/CD0, STOP CD0, /STOP
* 5. For the SGDB-jjAMA, understand the explanation given in the SGDB-jjAM manual
as follows:
Output terminal X+, X− ON state: ON state:

The circuit between X+ and X− The circuit between X+ and X−
is closed, and X+ is at low level. is closed, and X+ is at high lev-
el.
E OFF state: OFF state:

The circuit between X+ and X− The circuit between X+ and X−
is open, and X+ is at high level. is open, and X+ is at low level.
Example: Example:
/BK+, /BK−, ALM+, ALM− BK+, BK−, /ALM+, /ALM−
E-4
E.2 Lists of 6CN I/O Signals by Command Mode
Lists of SGDB-jjAMA 6CN I/O signals in each command mode are provided below.
J List of 6CN I/O Signals in Station Number Method
Table E.1. Station Number Command Method (Cn-27 = 0)
1 +24 V +24 V input 1 6CN output 26 +24V2 +24 V input 2 6CN output
circuit circuit
2 AUT-LT Automatic operation mode output 6CN output 27 ERR Command error output 6CN output
circuit circuit
3 MAN-LT Manual operation mode output 6CN output 28 P0 Current station position output 1 6CN output
circuit circuit
4 POS1 Positioning completed output 6CN output 29 P1 Current station position output 2 6CN output
(COIN) circuit circuit
5 POS2 Positioning near output (NEAR) 6CN output 30 P2 Current station position output 3 6CN output
circuit circuit
E
6 AL0 Alarm code output 1 6CN output 31 P3 Current station position output 4 6CN output
circuit circuit
7 AL1 Alarm code output 2 6CN output 32 P4 Current station position output 5 6CN output
circuit circuit
8 AL2 Alarm code output 4 6CN output 33 CD0 Command data input 0 6CN input
circuit circuit
9 AL3 Alarm code output 8 6CN output 34 CD1 Command data input 1 6CN input
circuit circuit
10 − − − 35 CD2 Command data input 2 6CN input

circuit

circuit

circuit
13 ZRN Machine zero point return mode 6CN input 38 CD5 Command data input 5 6CN input
setting input circuit circuit
14 MAN Manual operation mode setting in- 6CN input 39 CD6 Command data input 6 6CN input
put circuit circuit
15 PULS Pulse operation mode setting input 6CN input 40 CD7 Command data input 7 6CN input
circuit circuit
16 MCW Manual operation input (reverse) 6CN input 41 CD8 Command data input 8 6CN input
circuit circuit
17 MCCW Manual operation input (forward) 6CN input 42 CD9 Command data input (9) 6CN input
circuit circuit
18 RST Reset input 6CN input 43 CD10 Command data input (10) 6CN input
circuit circuit
E-5
19 SP2ND Speed selection code input 2 6CN input 44 CD11 Command data input (11) 6CN input
circuit circuit
20 SP3RD Speed selection code input 3 6CN input 45 DR0 Rotating direction select input 1 6CN input
circuit circuit
21 LPG Line PG selection input 6CN input 46 DR1 Rotating direction select input 2 6CN input
circuit circuit
22 AST Start command input 6CN input 47 PS0 Station number read select input 0 6CN input
circuit circuit
23 ALMRST Alarm reset input 6CN input 48 PS1 Station number read select input 1 6CN input
circuit circuit
24 /STOP Pause input 6CN input 49 0V2 0 V input 2 6CN input

circuit circuit
25 0V1 0 V input 1 6CN input 50 − − −

circuit
Note: For the SGDB-jjAMA, understand the explanation given in the SGDB-jjAM manu-
al as follows:
Input or output terminal X, ON state: X is at low level. ON state: X is at high level.

E common terminal Y OFF state: X is at high level. OFF state: X is at low level.
Example: Example:
/AUT-LT, /AL0, /CD0, STOP AUT-LT, AL0, CD0, /STOP
E-6
J List of 6CN I/O Signals in Digital Switch Method
Table E.2. Digital Switch Command Method (Cn-27 = 1)
circuit circuit
circuit circuit
3 MAN-LT Manual operation mode output 6CN output 28 DSO0 Data strobe output 0 6CN output
circuit circuit
4 POS1 Positioning completed output 6CN output 29 DSO1 Data strobe output 1 6CN output
5 POS2 Positioning near output (NEAR) 6CN output 30 DSO2 Data strobe output 2 6CN output
circuit circuit
6 AL0 Alarm code output 1 6CN output 31 DSO3 Data strobe output 3 6CN output
circuit circuit
7 AL1 Alarm code output 2 6CN output 32 DSO4 Data strobe output 4 6CN output
circuit circuit
E
8 AL2 Alarm code output 4 6CN output 33 DSI10 Position data input 0 6CN input
circuit circuit
9 AL3 Alarm code output 8 6CN output 34 DSI11 Position data input 1 6CN input
circuit circuit
10 − − − 35 DSI12 Position data input 2 6CN input

circuit

circuit

circuit
13 ZRN Zero point return mode setting in- 6CN input 38 DSI15 Position data input 5 6CN input
put circuit circuit
14 MAN Manual operation mode setting in- 6CN input 39 DSI16 Position data input 6 6CN input
put circuit circuit
15 PULS Pulse operation mode setting input 6CN input 40 DSI17 Position data input 7 6CN input
circuit circuit
16 MCW Manual operation input (reverse) 6CN input 41 DSI20 Speed data input 0 6CN input
circuit circuit
17 MCCW Manual operation input (forward) 6CN input 42 DSI21 Speed data input 1 6CN input
circuit circuit
18 RST Reset input 6CN input 43 DSI22 Speed data input 2 6CN input
circuit circuit
19 SP2ND Speed selection code input 2 6CN input 44 DSI23 Speed data input 3 6CN input
circuit circuit
20 S[3RD Speed selection code input 3 6CN input 45 DSI24 Speed data input 4 6CN input
circuit circuit
E-7
21 LPG Line PG selection input 6CN input 46 DSI25 Speed data input 5 6CN input
circuit circuit
22 AST Start command input 6CN input 47 DSI26 Speed data input 6 6CN input
circuit circuit
23 ALMRST Alarm reset input 6CN input 48 DSI27 Speed data input 7 6CN input
circuit circuit

circuit circuit
25 0V1 0 V input 1 6CN input 50 − − −

circuit
al as follows:

common terminal Y OFF state: X is at high level. OFF state: X is at low level.
Example: Example:
/AUT-LT, /AL0, /DSI10, STOP AUT-LT, AL0, DSI10, /STOP
E
J List of 6CN I/O Signals in Serial Communications Method
Table E.3. Serial Communications Method (Cn-27 = 2)
circuit circuit
circuit circuit
3 MAN-LT Manual operation mode output 6CN output 28 P0 Zone signal output 1 6CN output
circuit circuit
4 POS1 Positioning completed output 6CN output 29 P1 Zone signal output 2 6CN output
5 POS2 Positioning near output (NEAR) 6CN output 30 P2 Zone signal output 3 6CN output
circuit circuit
6 AL0 Alarm code output 1 6CN output 31 P3 Zone signal output 4 6CN output
circuit circuit
circuit circuit
8 AL2 Alarm code output 4 6CN output 33 − − −

circuit
9 AL3 Alarm code output 8 6CN output 34 − − −

circuit
E-8
10 − − − 35 − − −
11 − − − 36 − − −
12 − − − 37 − − −
13 ZRN Machine zero point return mode 6CN input 38 − − −

setting input circuit
14 MAN Manual operation mode setting in- 6CN input 39 − − −

put circuit
15 PULS Pulse operation mode setting input 6CN input 40 − − −

circuit
16 MCW Manual operation input (reverse) 6CN input 41 − − −

circuit
17 MCCW Manual operation input (forward) 6CN input 42 − − −

circuit
18 RST Reset input 6CN input 43 − − −

circuit
19 SP2ND Speed selection code input 2 6CN input 44 − − −

circuit
20 S[3RD Speed selection code input 3 6CN input 45 − − −

circuit
E
21 LPG Line PG selection input 6CN input 46 − − −
circuit
22 AST Start command input 6CN input 47 − − −

circuit
23 ALMRST Alarm reset input 6CN input 48 − − −

circuit
24 /STOP Pause input 6CN input 49 − − −

circuit
25 0V1 0 V input 1 6CN input 50 − − −

circuit
al as follows:

Example: Example:
/AUT-LT, /AL0, /P0, STOP AUT-LT, AL0, P0, /STOP
E-9
J List of 6CN I/O Signals in Command Table Method
Table E.4. Command Table Method (Cn-27 = 4)
circuit circuit
circuit circuit
3 MAN-LT Manual operation mode output 6CN output 28 P0 Zone signal output 1 6CN output
circuit circuit
4 POS1 Positioning completed output 6CN output 29 P1 Zone signal output 2 6CN output
5 POS2 Positioning near output (NEAR) 6CN output 30 P2 Zone signal output 3 6CN output
circuit circuit
circuit circuit
circuit circuit
E
8 AL2 Alarm code output 4 6CN output 33 CD0 Position number data input 0 6CN input
circuit circuit
9 AL3 Alarm code output 8 6CN output 34 CD1 Position number data input 1 6CN input
circuit circuit
10 − − − 35 CD2 Position number data input 2 6CN input

circuit

circuit

circuit
13 ZRN Zero point return mode setting in- 6CN input 38 CD5 Position number data input 5 6CN input
put circuit circuit
14 MAN Manual operation mode setting in- 6CN input 39 CD6 Position number data input 6 6CN input
put circuit circuit
15 PULS Pulse operation mode setting input 6CN input 40 CD7 Position number data input 7 6CN input
circuit circuit
16 MCW Manual operation input (reverse) 6CN input 41 CD8 Position number data input 8 6CN input
circuit circuit
17 MCCW Manual operation input (forward) 6CN input 42 − − −

circuit
18 RST Reset input 6CN input 43 − − −

circuit
19 SP2ND Speed selection code input 2 6CN input 44 − − −

circuit
20 S[3RD Speed selection code input 3 6CN input 45 − − −

circuit
E-10
21 LPG Line PG selection input 6CN input 46 − − −

circuit
22 AST Start command input 6CN input 47 PS0 Zone signal read selection input 0 6CN input
circuit circuit
23 ALMRST Alarm reset input 6CN input 48 PS1 Zone signal read selection input 1 6CN input
circuit circuit

circuit circuit
25 0V1 0 V input 1 6CN input 50 − − −

circuit
al as follows:

Example: Example:
/AUT-LT, /AL0, /CD0, STOP AUT-LT, AL0, CD0, /STOP
E-11
E.3 Contact I/O Circuits
The contact I/O circuits of the SGDB-jjAMA SERVOPACK are shown below.
J 1CN Input Circuit
SGDB SERVOPACK
Y 4.7 kΩ Photocoupler
0V
+24 V
5 mA
X
J 1CN Output Circuit

E SGDB SERVOPACK
+24 V
Photocoupler output X+
For each output,
Voltage used: 30 VDC max.
Output current: 50 mADC max. X−
0V
J 6CN Input Circuit
SGDB SERVOPACK
Turns ON and reads contact
at 500 Hz 25% duty.
1 kΩ
0V
Photocoupler
8.2 kΩ
+24 V
3.3 kΩ
X
Photocoupler
3 mA
500 Hz 25% Duty
E-12
E.3 Contact I/O Circuits
J 6CN Output Circuit

SGDB SERVOPACK
+24 V
Photocoupler output Y
For each output,
Voltage used: 30 VDC max.
Output current: 50 mADC max. X
0V
E-13
E.4 Wiring Examples
The following are examples of wiring the SGDB-jjAMA in each command method.
E-14
E.4 Wiring Examples
J Station Number Method Wiring Example

SERVOPACK
SGDB-jjAMA
6CN 1CN
+24V +24V1 1 32 /STP +24V
0V AUT−LT 2 28 S−ON 0V
MAN−LT 3 30 /P−OT
POS1 4 31 /N−OT
POS2 5 29 PCON
AL0 6 33 P−CL
AL1 7 34 N−CL
AL2 8 35 0V
AL3 9
16 BK+ +24V
+24V +24V2 26 17 BK− 0V
0V ERR 27 18 TGON+
P0 28 19 TGON−
P1 29 20 S−RDY+
P2 30 21 S−RDY−
P3 31 22 /ALM+
P4 32 23 /ALM−
ZRN 13
3 PULS
MAN 14 Manual pulse generator
+24V 4 /PULS P
PULS 15 or external PG
0V 6 SIGN (When using manual
7 /SIGN P pulse generator, do not
MCW 16
10 CC
/CC P
connect [CC] and
[/CC].)
E
MCCW 9
17
RST 18
SP2ND 19 24 PAO
SP3RD 20 25 /PAO P
LPG 21 26 PBO
AST 22 27 /PBO P Motor PG division
ALMRST 23 14 PCO output
/STOP 24 15 /PCO P
0V1 25 5 SG
11 TRQ−M
+24V CD0 33 12 VTG−M Analog monitor
0V CD1 34 2 SG
CD2 35
CD3 36 Connector FG
CD4 37 case
CD5 38 3CN
CD6 39 1 TXD 1
External position
CD7 40 2 /TXD P 2
indicator or other
CD8 41 3 RXD serial interface
CD9 42 4 /RXD P device
CD10 43 6 /RXD (Numbers refer to
CD11 RT ←Termination connector terminal
44 7
DR0 0V 3,4 numbers of external
45 9 position indicator.)
DR1 46 Connector FG
PS0 47 case [RXD], [/RXD], and [FG] are not
PS1 48 7CN connected to external position
0V2 49 1 BAT indicator. Also, termination is not
FG for 6CN shield FG Connector BAT0 required. However, it is necessary to
2 shield [FG], ground indicator itself, and
case
provide power source.
E-15
J Digital Switch Method Wiring Example
SERVOPACK
SGDB-jjAMA
6CN 1CN
0V1 32 /STP +24V
+24V 1
AUT−LT 2 28 S−ON 0V
0V
MAN−LT 3 30 /P−OT
POS1 /N−OT
4 31
POS2 PCON
5 29
AL0 6 33 P−CL
AL1 7 34 N−CL
AL2 8 35 0V
AL3 9 BK+
16 +24V
ZRN 13 17 BK−
0V
MAN TGON+
14 18
+24V PULS TGON−
15 19
0V S−RDY+
20
S−RDY−
21
MCW /ALM+
16 22
MCCW 17 23 /ALM−
RST 18
SP2ND 19
SP3RD PULS
20 3 Manual pulse generator
LPG 4 /PULS P
21 or external PG (When
AST SIGN
22 6 using manual pulse
ALMRST /SIGN P generator, do not
23 7
/STOP CC connect [CC] and
E 0V1
24
25
10
9
/CC P [/CC].)
PAO
+24V2 24
+24V 26 P
ERR 25 /PAO
0V 27
26 PBO
/PBO P Motor PG division
DSO0 27 output
28 PCO
DSO1 29 14
DSO2 15 /PCO P
30 SG
DSO3 5
31
DSO4 32
DSI10 11 TRQ−M
33 VTG−M
DSI11 12 Analog monitor
34
DSI12 2 SG
PLC, etc. (The 35
digital switch unit DSI13 36 Connector FG
or contact input DSI14
unit of a standard 37 case
DSI15
product cannot be 38
DSI16 3CN
used.) 39 TXD 1
DSI17 1 External position
40 /TXD P 2
DSI20 2 indicator or other
DSI21
41 3 RXD serial interface
42 /RXD P device
DSI22 4
43 /RXD (Numbers refer to
DSI23 6
44 RT ←Termination connector terminal
DSI24 7 numbers of external
45 0V 3,4
DSI25 9 position indicator.)
46 Connector FG
DSI26
47 case
DSI27 48 [RXD], [/RXD], and [FG] are not connected to
7CN
external position indicator. Also, termination is not
0V2 49 1 BAT required. However, it is necessary to shield [FG],
FG for 6CN shield FG Connector case 2 BAT0 ground the indicator itself, and provide power source.
Note: Since the polarity of the contact I/O drive power supply is reversed, the Digital Switch Unit
and Contact Input Unit of an SGDB-jjAM SERVOPACK cannot be used. Yaskawa
does not supply Digital Switch Units or Contact Input Units for the SGDB-jjAMA
SERVOPACK.
E-16
E.4 Wiring Examples
J Serial Communications Method Wiring Example

SERVOPACK
SGDB-jjAMA
3CN 1CN
TXD /STP +24V
1 32
P /TXD /P−OT
Controller for 2 30 0V
RXD /N−OT
serial 3 31
P /RXD 0V
communications 4 35
(RS-422A) /RXD
6
RT
7
0V
9
FG
Connector case
SGDB-jjAMA BK+ +24V

16
(Nth axis) BK−
3CN 17 0V
/ALM+
1 22
P /ALM−
2 23
3
P
4
6
←Termination
7
9
Connector case
PULS
In a multi-axis configuration, 3 Manual pulse generator
Yaskawa recommends the /PULS P
4 or external PG (When
use of termination at the final
axis. (Short between 6 and 7 6
SIGN
/SIGN P
using manual pulse
generator, do not
E
of 3CN.) 7 connect [CC] and
CC
10 [/CC].)
/CC P
9
PAO
24
/PAO P
25
PBO
26 P Motor PG division
/PBO output
27
PCO
14
/PCO P
15
SG
5
TRQ−M
11
VTG−M Analog monitor
12
SG
2
Connector case FG
FG for 1CN shield
7CN
BAT
1
BAT0
2
E-17
J Command Table Method Wiring Example

SERVOPACK
SGDB-jjAMA
+24V1 6CN 1CN /STP
+24V 1 32 +24V
AUT−LT S−ON
0V 2 28 0V
MAN−LT /P−OT
3 30
POS1 /N−OT
4 31
POS2 PCON
5 29
AL0 P−CL
6 33
AL1 N−CL
7 34
AL2 0V
8 35
AL3
9
BK+
16 +24V
+24V2 BK−
+24V 26 17 0V
ERR TGON+
0V 27 18
P0 TGON−
28 19
P1 S−RDY+
29 20
P2 S−RDY−
30 21
P3 /ALM+
31 22
P4 /ALM−
32 23
ZRN
13 PULS
MAN 3 Manual pulse
14 /PULS P
+24V PULS 4 generator or external
15 SIGN PG (When using
0V 6
/SIGN P manual pulse
7
E MCW
16
10
CC
/CC P
generator, do not
connect [CC] and
MCCW 9 [/CC].)
17
RST
18
SP2ND PAO
19 24
SP3RD /PAO P
20 25
LPG PBO
21 26 Motor PG division
AST /PBO P
22 27 output
ALMRST PCO
23 14
/STOP /PCO P
24 15
0V1 SG
25 5
TRQ−M
11
+24V CD0 VTG−M Analog monitor
33 12
0V CD1 SG
34 2
CD2
35
CD3 FG
36 Connector FG for 1CN shield
CD4 case
37
CD5
38 3CN
CD6 TXD 1
39 1 External position
CD7 /TXD P 2
40 2 indicator or other
CD8 RXD serial interface
41 3
/RXD P device
4
/RXD (Numbers refer to
6 connector terminal
RT ←Termination
7 numbers of external
0V 3,4
9 position indicator.)
FG
Connector
case [RXD], [/RXD], and [FG] are not connected
7CN to external position indicator. Also,
0V2 49 BAT termination is not required. However, it is
Connector 1 necessary to shield [FG], ground indicator
FG for 6CN shield FG BAT0
case 2 itself, and provide power source.
E-18
INDEX
A encoder cables, 6 - 213

incremental encoder, 3 - 145, 3 - 147
motor cables, 6 - 214
absolute value detection system, 3 - 133 Servomotors with holding brake, 6 - 132
alarm traceback data, clearing, 5 - 36 IP67-based, 6 - 137
Servomotors without holding brake, 6 - 129
alarms
standard motor with brake, 3 - 150, 3 - 152
display, troubleshooting, 7 - 5
standard motor without brake, 3 - 149, 3 - 151
Servo, resetting using Digital Operator, 5 - 4
terminal layouts, 3 - 140
servo, reset, 5 - 4
Servopack, 3 - 140
alignment, 2 - 8
controlled systems
radial load, 2 - 8
components, 1 - 6
thrust load, 2 - 8
meaning, 1 - 5
autotuning, 5 - 33
current detection offset, manual adjustment mode, 5 - 40
adjustment of position control Servopacks, A - 4
autotuning function, 3 - 117
Digital Operators, 5 - 30
D
deceleration stop mode, 3 - 26
BĞC detectors
encoders, 1 - 8
battery, replacement, absolute encoder, 7 - 4
meaning, 1 - 5
brake power supply, 2 - 14
Digital Operator, 2 - 15
dimensional drawings, 6 - 218
internal circuit, 6 - 219 Digital Operators
specifications, 6 - 218 autotuning, 5 - 30
connection, 5 - 2
cables, 3 - 124
encoders
selection, 6 - 17
flowchart, 6 - 18
specifications, 6 - 220
servo alarm reset, 5 - 4
for connecting PC and Servopack, 6 - 256
motor, connectors, 6 - 214 dimensional drawings, 6 - 57
specifications, 6 - 192 brake power supply, 6 - 218
tension, 3 - 124 cables, encoders, 6 - 220
connector kits, 6 - 197
command pulse, input
Digital Operators, 6 - 151
allowable voltage level, 3 - 98
magnetic contactor, 6 - 244
timing, 3 - 98
regenerative resistor unit, 6 - 246
connector kits, 6 - 197 Servomotors, 6 - 57–6 - 91
dimension drawings, 6 - 197 Servopacks, 6 - 140
dividing, 3 - 103
connectors
drive systems, 1 - 6
1CN, test run, 2 - 24
absolute encoder, 3 - 146, 3 - 148 dynamic brake, 3 - 110
Digital Operator, 3 - 153 stop mode, 3 - 27
— Index-1 —
INDEX
E I
electronic gear function, 3 - 8 impact resistance, 6 - 42
setting, 3 - 9 input signal terminals
forward external torque limit input, 3 - 16
electronic gear ratio, 3 - 9
reverse external torque limit input, 3 - 16
command unit, 3 - 9 servo ON, 3 - 20
for different load mechanisms, 3 - 10
load travel distance per revolution of load shaft in command inspection, 7 - 2, 7 - 3
units, 3 - 9 Servomotors, 7 - 2
Servopacks, 7 - 3
machine specifications, 3 - 9
installation, 2 - 4
encoder output, 3 - 103 servomotor, alignment, 2 - 8
signals, divided, 3 - 103 Servomotors, 2 - 7
encoder pulses, number per revolution, 3 - 6 Servopacks, 2 - 10
internal torque limit, 3 - 15
encoders
absolute, 1 - 8, 3 - 133
battery replacement, 7 - 4
cables L
connectors, 6 - 213
limit switch, overtravel limit function, 3 - 24
specifications, 6 - 220 load inertia, gain settings, A - 8
extending cables, 3 - 136 loads
incremental, 1 - 8 allowable radial load, 6 - 40
allowable thrust load, 6 - 40
external torque limit, 3 - 15
external torque limit input, 3 - 17
forward, 3 - 17
reverse, 3 - 17
MĞN
machine data table, 6 - 11
machine rigidity, 5 - 33
FĞH selection, 5 - 30
magnetic contactor, 2 - 14
feed-forward control, 3 - 118 dimensional drawings, 6 - 244
feedback control, meaning, 1 - 3
maintenance, 7 - 2, 7 - 3
fuse, 3 - 125 Servomotors, 7 - 2
Servopacks, 7 - 3
gain
adjustment, 3 - 114 MCCB, 2 - 14, 3 - 125, 6 - 242
AC Servopack, A - 2 mechanical tolerance, 6 - 41
setting references, load inertia ratio, A - 8
memory switches
ground-fault interrupter, 2 - 3 mode switch, 3 - 119
grounding, 2 - 3 detection points
wiring, 3 - 126 error pulse, 3 - 122
motor acceleration, 3 - 121
high-voltage lines, Servopacks, 3 - 139 speed command, 3 - 121
torque command, 3 - 120
holding brake, 3 - 111
electrical specifications, 200-VAC SGM Servomotors, 6 - 21, molded-case circuit breaker
6 - 25, 6 - 29, 6 - 35 noise control, 2 - 3
host controllers, 1 - 5, 1 - 9 filter, 2 - 14, 3 - 124
installation, 3 - 127
hot start, 6 - 54 wiring, 3 - 125
— Index-2 —
INDEX
O residual voltage, precautions, 2 - 2

reverse rotation mode, 3 - 7
order lists, 6 - 167 user constant, 3 - 7
output phase, form, 3 - 104 rotation, 3 - 26
absolute encoder, 3 - 104 forward, prohibiting, 3 - 26
incremental encoder, 3 - 104 reverse, prohibiting, 3 - 26
output signal terminals running output signal, 3 - 42
brake interlock output, 3 - 111
encoder output, 3 - 104
overload alarm, 3 - 44
overload warning, 3 - 44
S
running output, 3 - 42
servo amplifiers, 1 - 8
overhanging load meaning, 1 - 5
precautions, 2 - 3
servo drive, meaning, 1 - 4
Servomotors, 6 - 56
servo mechanisms
overload
illustration, 1 - 5
alarm, 3 - 44
meaning, 1 - 2
characteristics, Servopacks, 6 - 54
warning, 3 - 44 servo OFF, 3 - 27
overtravel limit function, 3 - 24 servo ON input signal, 3 - 20
Servomotors, 7 - 2
100-VAC SGM ratings, 6 - 27, 6 - 31, 6 - 33
P 100-VAC SGM specifications, 6 - 27, 6 - 31, 6 - 33
200-VAC SGM ratings, 6 - 19, 6 - 23
peripheral devices 200-VAC SGM specifications, 6 - 19, 6 - 23
selection, 6 - 152 200-VAC SGM torque-motor speed characteristics, 6 - 22,
flowchart, 6 - 153 6 - 26, 6 - 30, 6 - 33, 6 - 36
specifications, 6 - 192 AC, 1 - 7
wiring, 2 - 13 induction, 1 - 7
synchronous, 1 - 7
personal computer, 2 - 15 components, 1 - 7
positioning time, minimizing, 3 - 117 DC, 1 - 7
dimensional drawings, 6 - 57–6 - 91
power amplifiers, 1 - 9 inspection, 7 - 2
precautions, 2 - 2 installation, 2 - 7
maintenance, 7 - 2
proportional/integral control, 1 - 9 meaning, 1 - 4, 1 - 5
pulse dividing ratio, 3 - 104 overhanging load, 6 - 56
selection, 6 - 3
flowchart, 6 - 5, 6 - 9
R machine data table, 6 - 11

setting the model, 3 - 5
test run, 2 - 24
radial load, 2 - 8
Servopacks, 7 - 3
ratings AC, gain adjustment, A - 2
100-VAC SGM Servomotors, 6 - 27, 6 - 31, 6 - 33 dimensional drawings, 6 - 140
200-VAC SGM Servomotors, 6 - 19, 6 - 23 high-voltage lines, 3 - 139
regenerative resistor unit, - inspection, 7 - 3
dimensional drawings, 6 - 246 installation, 2 - 10
specifications, 6 - 246 instrument connection examples, 7 - 35
internal connection diagram, 7 - 35
regenerative unit maintenance, 7 - 3
connection, 3 - 132 meaning, 1 - 4
models, 3 - 132 overload characteristics, 6 - 54
— Index-3 —
INDEX
position control
autotuning, A - 4 U
manual adjustment, A - 5
selection, 6 - 15 user constants, 3 - 7, 3 - 25
according to the motor, 6 - 16 bias, 3 - 118
brake signal output timing during motor operation, 3 - 113
servos
alarm reset, 5 - 4 brake signal speed level output during motor operation,
control systems, meaning, 1 - 4 3 - 113
gain adjustment, 3 - 114 dividing ratio setting, 3 - 104
meaning, 1 - 4 encoder type selection, 3 - 6
feed-forward gain, 3 - 118
shaft opening, 2 - 8
forward external torque limit, 3 - 16
specifications motor selection, 3 - 5
100-VAC SGM Servomotors, 6 - 27, 6 - 31, 6 - 33 number of encoder pulses, 3 - 6, 3 - 134
200-VAC SGM Servomotors, 6 - 19, 6 - 23
operation when motor stops after overtravel, 3 - 26
brake power supply, 6 - 218
cables, 6 - 192 operation when motor stops after servo OFF, 3 - 27
encoders, 6 - 220 output signal selection, 3 - 41, 3 - 43, 3 - 44, 3 - 112
connector kits, 6 - 197 overflow, 3 - 114
magnetic contactor, 6 - 244 position loop gain, 3 - 114
peripheral devices, 6 - 192 positioning complete range, 3 - 42, 3 - 44
regenerative resistor unit, 6 - 246 reverse external torque limit, 3 - 16
Servopack/Servomotor combination, 6 - 44 reverse rotation mode, 3 - 7
speed bias, 3 - 118 rotation direction selection, 3 - 7
speed loop gain, 3 - 115
starting time, 6 - 55
speed loop integration time constant, 3 - 115
stopping time, 6 - 55 stopping motor at servo OFF, 3 - 27, 3 - 110
surge suppressor, 6 - 246 stopping the motor at overtravel, 3 - 26
time delay from brake signal output to servo OFF, 3 - 112
torque command filter selection, 3 - 116
T torque command filter time constant, 3 - 115
terminals
standard motor with brake, 3 - 150, 3 - 152
standard motor without brake, 3 - 149, 3 - 151 VĞW
test run, 2 - 23
vibration class, 6 - 43
motor alone, 2 - 24
motor connected to the machine, 2 - 28 vibration resistance, 6 - 42
servomotor with brake, 2 - 29
voltage resistance test, 2 - 3
thrust load, 2 - 8
wiring, 2 - 13, 3 - 124
torque command filter time constant, 3 - 115
grounding, 3 - 126
torque restriction function, torque limit value, 3 - 16 more than one servo drive, 3 - 130
troubleshooting noise control, 3 - 125
alarm display, 7 - 5 peripheral devices, 2 - 13
without alarm display, 7 - 33 precautions, 2 - 2, 3 - 124
— Index-4 —
IRUMA BUSINESS CENTER
480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-42-962-5696 Fax 81-42-962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-847-887-7000 Fax 1-847-887-7370
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200 Fax 1-937-847-6277
YASKAWA ELETRICO DO BRASIL COMERCIO LTD.A.
Avenida Fagundes Filho, 620 Bairro Saude-Sao Paulo-SP, Brazil CEP: 04304-000
Phone 55-11-5071-2552 Fax 55-11-5581-8795
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
Motoman Robotics Europe AB
Box 504 S38525 Torsas, Sweden
Phone 46-486-48800 Fax 46-486-41410
Motoman Robotec GmbH
Kammerfeldstra e 1, 85391 Allershausen, Germany
Phone 49-8166-90-100 Fax 49-8166-90-103
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
4F No.18 Aona Road, Waigaoqiao Free Trade Zone, Pudong New Area, Shanghai 200131, China
Phone 86-21-5866-3470 Fax 86-21-5866-3869
YATEC ENGINEERING CORPORATION
4F., No.49 Wu Kong 6 Rd, Wu-Ku Industrial Park, Taipei, Taiwan
Phone 886-2-2298-3676 Fax 886-2-2298-3677
YASKAWA ELECTRIC (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385 Fax 852-2547-5773
BEIJING OFFICE
Room No. 301 Office Building of Beijing International Club, 21
Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
TAIPEI OFFICE
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
SHANGHAI YASKAWA-TONGJI M & E CO., LTD.
27 Hui He Road Shanghai China 200437
Phone 86-21-6553-6060 Fax 86-21-5588-1190
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.
30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083
Phone 86-10-6233-2782 Fax 86-10-6232-1536
SHOUGANG MOTOMAN ROBOT CO., LTD.
7, Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076, P.R. China
Phone 86-10-6788-0551 Fax 86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
In the event that the end user of this product is to be the military and said product is to be
employed in any weapons systems or the manufacture thereof, the export will fall under
the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade
Regulations. Therefore, be sure to follow all procedures and submit all relevant MANUAL NO. SIE-S800-16.3
documentation according to any and all rules, regulations and laws that may apply.
Printed in Japan March 2003 99-9 1
Specifications are subject to change without notice
for ongoing product modifications and improvements.
02-11
97-23059
1999-2003 YASKAWA ELECTRIC CORPORATION. All rights reserved.

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YASKAWA

YASKAWA MANUAL NO. SIE-S800-16.3

The ISO symbol is used in this manual.

AEXAMPLE" Indicates application examples.

INFO Indicates supplemental information.

IMPORTANT Indicates important information that should be memorized.

1 For First-time Users of AC Servos . . . . . . . . . . . . . . 1-1

2 Basic Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

3 Advanced Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

4 Using Serial Communications . . . . . . . . . . . . . . . . . . 4-1

5 Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . 5-1

6 Servo Selection and Data Sheets . . . . . . . . . . . . . . . 6-1

7 Inspection, Maintenance, and Troubleshooting . . 7-1

A Servo Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

1 For First-time Users of AC Servos

1.2 Servo Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1.3 Features of Σ-Series Servos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 10

2.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.3 Connection and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 13

2.4 Conducting a Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 23

3.1 Setting Up the Σ SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3.1.4 Parameter Settings for Machine System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3.2 Signals Common to All Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 20

3.3 Feed Speed Setting in Automatic and Manual Operation Modes 3 - 47

3.4 Automatic Mode: Station Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 49

3.5 Automatic Mode: Digital Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 59

3.6 Automatic Mode: Serial Communications . . . . . . . . . . . . . . . . . . . . 3 - 70

3.7 Automatic Mode: Command Table . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 87

3.8 Manual Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 94

3.9 Pulse Operation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 95

3.11 Encoder Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 103

3.12 External Pulse Generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 106

3.13 External Position Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 108

3.14 Setting the Stop Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 110

3.15 Smooth Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 114

3.16 Minimizing Positioning Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 117

3.17 Handling Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 123

3.18 Special Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 124

4 Using Serial Communications

4.2 Serial Communications Commands . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 10

4.3 Using Fixed Length Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 17

4.4 Serial Commands for Settings and Monitoring . . . . . . . . . . . . . . . . 4 - 20

4.5 Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 31

5 Using the Digital Operator

5.2 Practical Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 24

6 Servo Selection and Data Sheets

6.3 SERVOPACK Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . 6 - 44

6.4 Σ-Series Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 57

6.5 Selecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 152

6.6 Specifications and Dimensional Drawings of

7 Inspection, Maintenance, and Troubleshooting

7.2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

A.2 Adjusting a Position-control SERVOPACK . . . . . . . . . . . . . . . . . . . A-4

A.3 Gain Setting References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8

B List of I/O Signals

D List of Alarm Displays

E Supplementary Information on SGDB-jjAMA

E.2 Lists of 6CN I/O Signals by Command Mode . . . . . . . . . . . . . . . . . . E-5

E.3 Contact I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E - 12

E.4 Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E - 14

This manual provides Σ-Series users with information on the following:

D An overview of servo systems for first-time users.

Using This Manual